EXP NO:10 NAME:K S SHREEYACENDINI

DATE:07/10/22 ROLL NO.:20R221

PROGRAMMING OF KINOVA ROBOTIC ARM

AIM:

To study and program Kinova Robotic Arm.

APPARARTUS REQUIRED:

• Kinova Gen 2 Robotic Arm

• JOYSTICK
• K-Development software

THEORY:

KINOVA GEN 2 ROBOT

Kinova Gen 2 is an ultra-lightweight one-of-a-kind robot featuring an embedded controller
adapted for all scenarios and work environment. It is available in 6 dof and 7 dof variants.

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 FEATURES:

PORTABLE, PRACTICAL AND POWER-EFFICIENT:

• Ultra-lightweight
• Low power consumption
• Excellent payload-to-weight ratio
• Compatible with both ROS and our software

SAFE BY DESIGN FOR HUMAN-ROBOT INTERACTION (HRI)

Designed to augment human capability in any structured or unstructured environment, all of our
robots put the humans operating them at the forefront, meaning the individual is always in control
of the technology, and the technology always complements the individual. When working together,
extraordinary results are within reach.
• Inherently safe
• Many ways to control the robot arm

KINOVA JACO DIMENSIONS:

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ROBOT COMPONENTS:

ROBOT EXTERNAL CONNECTORS:

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OPERATING / CONTROLLING THE ROBOT:
KINOVA JOYSTICK CONTROLLER:

JOYSTICK MOVEMENTS AND MODES:

The Kinova joystick allows you to control the robot in a 2-axis or 3-axis mode. 2-axis mode will disable
the joystick twist rotation.
The following table shows the button default factory settings for using the joystick in a 2-axis and 3-
axis modes.

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DEFAULT JOYSTICK BUTTON SETTINGS:

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CONTROLLING THE ROBOT USING K-DEVELOPMENT SOFTWARE:
Multiple functionalities are offered by Kinova software. Using the Development Center and the
Torque Console, users can (among other things) send trajectories, monitor their robot’s state,
activate admittance and switch between Cartesian and angular control. Kinova software is also
useful to update the robot’s firmware and to diagnose different problems.

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CONTROLLING THE ARM USING THE KINOVA API:
CONTROL MODES:

PROCEDURE:

➢ Power on the TAL Robot after checking for obstacles that can come in between ROBOT
motion.
➢ Release the EMG STOP button the power supply as well as the teach pendent.
➢ Turn ON the Controller.
➢ After the Teach Pendent is booted, login to Operator mode and get into JOG mode.
➢ In JOG mode, we have two options, one is moving individual joints manually by varying
the values.
➢ The second option is to move using (X,Y,Z) coordinates which will maintain the end
effector coordinates and still move the robot.

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➢ Apart for this we can manually move the robot by physically moving it with hand or we
can program it in a PC and import the program into teach pendent to move the Robot.
➢ To set waypoint we just click on the way point button and save this current point as way
point
➢ To create a delay, we can use the delay function and between some path we can create a
specific delay.
➢ By repeating the above steps, we can create multiple waypoints and also, the necessary
delay.
➢ With multiple waypoints one after another, a path will be created.
➢ To run the path, we just have to click the run button before which the Robot should be set
to its home position.
➢ Then it will start to move in the path that we have created by using multiple waypoints.
➢ It will run this in a loop until we stop it.
➢ Turn On the EMG STOP if the Robot is not used for safety conditions.

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RESULT:
Hence the programming of 5-Axis (TAL BRABO) Robot was completed and multiple
paths were created and run using teach pendant

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