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Troubleshooting Manipulator Support Package

Troubleshooting Network Connection with Kinova Gen3 Robot

Perform any of these actions to troubleshoot network connection issues with the Kinova® Gen3 robot:

  • Test the connection with the robot using KINOVA® KORTEX™ Web App.

  • Ensure that the robot is powered on.

  • Test the setup by controlling the robot with a game pad.

  • Check the IP address of the robot.

  • If you are connecting using Ethernet, ensure that the Ethernet cable is properly connected to your computer and the robot.

  • Ensure that the proper network adapter is selected and configured to communicate with the robot.

  • Clear any existing faults using game pad or KINOVA® KORTEX™ Web App. For more information, refer to Clear Existing Faults.

Troubleshooting Image Acquisition with Kinova Gen3 Robot

Perform any of these actions to troubleshoot image acquisition issues with the Kinova Gen3 robot:

  • Verify that the adaptor kinova_vision_imaq (for Windows®) or libkinova_vision_imaq (for Linux®) is registered correctly with the Image Acquisition Toolbox™. To get the list of installed adaptors, run imaqhwinfo in the MATLAB® command window. If the specified adaptor is not listed in the installed adaptors, then refer to Set Up IMAQ Adapter for matlab_kortex Driver for detailed instructions to register the adaptor.

  • Test the connection with the robot using KINOVA® KORTEX™ Web App. You can also verify the camera streams using the app.

  • Verify the image acquisition using Image Acquisition Tool:

    1. Open the Image Acquisition Tool by navigating to the APPS tab. The tool is available under the section Image Processing and Computer Vision.

    2. Select the appropriate device, that is, RGB24 (color device) or MONO16 (depth device), from the list of available devices on the left panel.

    3. Go to the Device properties and enter the IP address of the robot.

    4. Click Start preview and observe the camera stream.

  • Sometimes the connection between the vision module and the acquisition adaptor does not close and therefore, you might face the error stating that the device may already in use. This issue is more frequent in Linux and more information on this can be found at this GitHub® page of Kinova Robotics.

    To resolve this issue, wait for at least 30 seconds before initiating the next image acquisition. If the error persists, then power-cycle the robot.

Limitations of Precomputed Trajectory

Consider these limitations while sending precomputed trajectories to manipulate Kinova Gen3 robot:

  • The Gen3 robot accepts the precomputed trajectories with certain restrictions to angular velocity and acceleration of each joint as well as on the time stamp of each input.

  • The initial timestamp of each trajectory should be exactly zero second and the current position of the robot should exactly match the starting point of the trajectory.

  • The successive trajectory points should have time increment of exactly 1 milliseconds, and overall trajectory should not be more than 30 seconds long, that is 30,001 trajectory points.

  • Joint positions for all actuators must be within the specified joint limits throughout the entire trajectory.

  • Similarly, angular velocity and acceleration for each joint should be within the specified limits throughout the entire trajectory.

  • For more information on the limits of individual joint angle, velocity and acceleration, refer to the user guide of Kinova Gen3 robot.

  • For more information on the limitations of SendPreComputedTrajectory, refer to this GitHub page.