Adept MobileRobots Pioneer 3, Operation Manual

Page 1: ...Pioneer 3 Operations Manual P3DX SH P3AT SH with ARCOS Mobile Robots for Research and Education P3X0001 P3T0001 Revision 6 4 October 31 2013...

Page 2: ...rolBot Seekur Seekur Jr Mapper3 MobileSim and MobileEyes are trademarks and registered trademarks of Adept MobileRobots Other names and logos for companies and products mentioned or featured in this d...

Page 3: ...iate Operation Inappropriate Operation Inappropriate Operation Inappropriate operation voids your warranty Inappropriate operation includes but is not limited to Dropping the robot running it off a le...

Page 4: ...iv...

Page 5: ...wer and Status Indicators 8 Buzzer 8 Serial Port 9 Power Switches 9 Reset and Motors 9 Body Nose and Accessory Panels 9 Nose 10 Access Panels 10 SONAR 10 Multiplexed Operation 10 Sensitivity Adjustmen...

Page 6: ...7 Closing the Connection CLOSE 27 Client Commands 27 Robots in Motion 30 Client Motion Commands 31 PID Controls 32 Position Integration 32 DriftFactor RevCount and TicksMM 33 SONAR 33 Enable Disabling...

Page 7: ...56 Hot Swapping the Batteries 56 Charging the Batteries 56 Automated Docking Charging System 57 Alternative Battery Chargers 57 Tightening the AT Drive Belt 57 Getting Inside 58 Removing the Nose 58 O...

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Page 9: ...form and our manufactured accessories against mechanical electronic and labor defects for one year Third party accessories are warranted by their manufacturers typically for 90 days Even though we ve...

Page 10: ...e website are restricted to licensed customers To gain access enter the username and password written on the Registration Account Sheet that accompanied your robot Newsgroups We maintain several email...

Page 11: ...rm at the support website http robots MobileRobots com techsupport or by email support MobileRobots com Please include your robot s serial number serial number serial number serial number look for it...

Page 12: ...eer Server Operating System PSOS firmware The next generation of Pioneer 2 and PeopleBot V1 robots used a Siemens C166 based microcontroller with Pioneer 2 Operating System P2OS software AmigoBot intr...

Page 13: ...configuration operation and monitoring of your Pioneer platform over the network The SONAR SONAR SONAR SONARNL NL NL NL libraries enable your SONAR based Pioneer platforms to localize and autonomously...

Page 14: ...robot s velocity change acceleration and other operating parameters and to receive estimated position and other data from the robot See Chapter 6 below for details on connecting with software Maintena...

Page 15: ...robots are composed of several main parts Deck Motor Stop Button optional on DX User Control Panel Body Nose and Accessory Panels SONAR Array s Motors Wheels and Encoders Batteries and Power Figure 4...

Page 16: ...ols below Press the STOP button in to re engage motor power and stop that incessant beeping noise Note that you may also have to re enable the motors when connected with client software either by manu...

Page 17: ...Control Panel are pushbuttons which engage or disengage power to 5 and 12 VDC connectors on the Motor Power board to which we or you attach power for various accessories For example 12 VDC power for t...

Page 18: ...on The SONAR positions in all Pioneer 3 SONAR arrays are fixed one on each side and six facing outward at 20 degree intervals Together fore and aft SONAR arrays provide 360 degrees of nearly seamless...

Page 19: ...on cup tool to help grab and slide each battery out of its bay Spring contacts on the robot s battery power board alleviate the need for manually attaching and detaching power cables or connectors Bal...

Page 20: ...teries are given only enough current to remain at full charge SAFETY ARCOS WATCHDOGS ARCOS contains a communications WatchDog that will halt the robot s motion if communications between a PC client an...

Page 21: ...ster than normal When not connected with a client control program releasing the joystick fire button stops the robot However when connected with a client the client program resumes automatic operation...

Page 22: ...can run your robot s onboard systems while properly and optimally recharging its batteries And because the charging mechanism may be operated independently of your robot s systems power you may start...

Page 23: ...o capture and process live video INTEGRATED PC Mounted just behind the nose of the robot the Pioneer 3 integrated PC is a common EBX form factor board that comes with up to four serial ports 10 100Bas...

Page 24: ...er manual and additional resources available at http robots mobilerobots com for additional information on the onboard computer Onboard PC Networking The RJ 45 connector on the Computer Control Panel...

Page 25: ...average and relay rate data GYROpac 0x98 to ARIA which applies the data to correct and compute the robot s actual x y th position relieving errors due to wheel slippage for instance The gyro s calibra...

Page 26: ...minals are making contact with the spring contacts in the robot If any batteries fail to make full contact then damage may result to the batteries or robot CAREFUL CAREFUL CAREFUL CAREFUL Always ensur...

Page 27: ...v ttyS0 under Linux And by default demo connects with an attached laser rangefinder accessory through serial port COM3 or dev ttyS2 To change those connection options either modify the ARIA source cod...

Page 28: ...when first connecting The amber SERIAL port indicator LEDs on the robot s User Control Panel should blink to indicate ARIA client to ARCOS server communications too OPERATING THE ARIA DEMONSTRATION CL...

Page 29: ...ing examples subdirectory Start serverDemo just like demo with the remoteHost argument if you aren t running the software onboard ServerDemo also accepts the special command line argument connectLaser...

Page 30: ...ch on the User Control Panel is engaged associated LED lit for example And remove any serial cable that is plugged into the User Control Panel as it may interfere with internal serial communication Wi...

Page 31: ...OS and more recent AROS based Pioneer 2s and 3s as well as PeopleBot and PowerBot ARCOS of course extends the servers to add new functionality improve performance and provide additional information ab...

Page 32: ...Table 4 Client command packet protocol COMPONENT BYTES VALUE DESCRIPTION header 2 0xFA 0xFB Packet header same for client and server byte count 1 N Number of command argument bytes plus Checksum s two...

Page 33: ...for the returned packets and only issue the next synchronization packet after it has received the appropriate echo Autoconfiguration SYNC2 ARCOS automatically sends robot identifying information back...

Page 34: ...r 1 0 R VEL int BATTERY byte Battery charge in tenths of volts 101 10 1 volts for example STALL AND BUMPERS uint Motor stall and bumper indicators Bit 0 is the left wheel stall indicator set to 1 if s...

Page 35: ...If the robot shuts down due to lack of communication with the client it will revive upon receipt of a client command and automatically accelerate to the last specified speed and heading setpoints Clos...

Page 36: ...c 1 0 VEL 11 int Translate at mm sec forward or backward SETV limited speed 1 0 HEAD 12 int Turn at SETRV speed to absolute heading degrees counterclockwise 1 0 DHEAD 13 int Turn at SETRV speed relati...

Page 37: ...r either 3 bumpers contacted when robot moving in related direction 1 0 TCM2 45 int TCM2 module commands 0 module off no readings 1 compass only readings in standard SIP 2 send one TCM2 packet 3 send...

Page 38: ...e 1 0 REVCOUNT 88 int Change working differential encoder count 1 1 DRIFTFACTOR 89 int Change working drift factor 1 0 SOUNDTOG 92 int 0 mute User Control piezo 1 enable 1 0 TICKSMM 93 int Change work...

Page 39: ...idal velocity function which ARCOS recomputes each time it receives a new motion command 10 ARCOS automatically limits VEL2 VEL and RVEL specified velocities to previously imposed client modifiable SE...

Page 40: ...s persist until the client disconnects Translation PID values apply to independent wheel velocity mode as well The P term value Kp increases the overall gain of the system by amplifying the position e...

Page 41: ...r defaults to its FLASH value on start up or reset and can be changed on the fly with the DRIFTFACTOR client command 89 with signed integer argument The RevCount parameter is the differential number o...

Page 42: ...change the cycle timing on the fly to the command integer s argument value in milliseconds Minimum and maximum values are two and 120 milliseconds respectively The default value is set in FLASH normal...

Page 43: ...OYSTICKpac or after such as IOpac the standard SIP that ARCOS sends to your client every SipCycle milliseconds 13 The standard SIP takes priority so you may have to adjust the HOST serial baud rate to...

Page 44: ...ks for a 180 degree revolution of the robot Watchdog int Ms time before robot automatically stops if it has not received a command from the client Restarts on restoration of connection P2mpacs byte 1...

Page 45: ...eir respective FLASH based defaults and get reset to those values whenever the microcontroller is reset or upon client disconnection For advanced serial port management from the client side ARCOS prov...

Page 46: ...of zero BUZZER SOUNDS Pioneer 3 robots have a piezo buzzer on the User Control Panel that aurally notifies you of system conditions such as low batteries or stalls For stealthy operation issue the SO...

Page 47: ...12 TCM2 command 45 arguments ARCOS Command Argument TCM2 Command Action 0 Module off software only not low power standby 1 Compass only default reading in standard SIP 2 Send single TCM2 SIP 45 3 Send...

Page 48: ...updated calibration score to the connected client It and subsequent SIPs contain that latest calibration score on which you may evaluate the calibration settings Reset Mode The reset TCM2 command arg...

Page 49: ...ignores 0 the state of the corresponding bit in the second byte to set 1 or unset 0 the digital output port For example here s the ARCOS client command to set digital output ports zero and three OD0...

Page 50: ...ied by the InvertBumps mask All the bumper and IR data bits appear in the IOpac packet Additionally the IR inputs may be mapped in the FLASH parameters to corresponding bumper inputs for reflexive lik...

Page 51: ...from slipping wheels The microcontroller supports the gyro via attachment to its AN6 and AN7 analog to digital input ports To enable the gyro you must set the HasGyro FLASH parameter to either value o...

Page 52: ...to compute the XPos YPos and ThPos in the standard SIP 15 Like ARIA s treatment the server side gyro firmware automatically detects its center point and compensates for drift Unlike the client side t...

Page 53: ...pting to resume activity While the motors are engaged the charging mechanism cannot be deployed except by the CHARGE command For best control and safety consider also using the ARCOS CHARGE command nu...

Page 54: ...w 0 while the batteries charge from approximately 80 to 90 of full charge from 13 8 to 14 7V The charger finally reverts to float maintaining full charge at much lower current and charger voltage 13 5...

Page 55: ...switch its power OFF typically AUX1 When connecting from an external PC directly tether no radios its serial port to the 9 pin DSUB SERIAL connector on the User Control Panel Enabling Maintenance Mode...

Page 56: ...with command line options Run the program from the Start menu or run Command from the Start menu then navigate to the ARCOS directory and start ARCOScf with options For example after invoking the MSDO...

Page 57: ...yword at its command prompt Some keywords affect the operation of ARCOScf or the status of the parameters file as a whole For instance to review the list of current ARCOS FLASH variables type v or vie...

Page 58: ...tivated when battery charge falls below this value shutdownvolts int 108 In 1 10 volts microcontroller disconnects client and signals onboard PC to shutdown when battery charge falls below this value...

Page 59: ...t 0 Max rotational speed of gyro SPI based only 0 internal default 320 deg sec hasbrakes byte 0 1 if your robot has brakes 0 if not charger byte 0 Set to 1 if P3 PeopleBot or 2 if PowerBot autocharger...

Page 60: ...m translation velocity joyrvelmax int 50 Joydrive maximum rotation velocity PID PARAMETERS The ARCOS configuration parameters include settings for the PID motor controls for translation and rotation o...

Page 61: ...e average is then compared with the stallVal FLASH value If it exceeds that value in other words the motors are being given lots of power but are barely moving if at all a stall occurs Once stalled po...

Page 62: ...d been hit Similarly IRs 5 and 6 will cause bump events on the front bumper 1 redundancy is okay We aren t using IRs 1 and 2 at least not with the front bumpers Note too that there are only six charac...

Page 63: ...nect with the ARIA demo and engage position mode to move the robot As accurately as possible a laser line or pointer is helpful here measure its actual motion and position and use demo s direct mode t...

Page 64: ...access the batteries unlatch the rear door swing it open and locate the one to three onboard batteries inside To remove a battery simply grasp it and pull out We provide a suction cup tool to help Ins...

Page 65: ...to use an alternative battery charger be sure to connect positive to positive and negative to negative from charger to robot An alternative AC to DC converter battery charger should sustain at least...

Page 66: ...inged at the bottom Remove all nose retaining screws with the 3mm hex wrench supplied with your robot Unlike earlier Pioneer 2 models you do not have to remove the Gripper or the front bumper accessor...

Page 67: ...ot s serial number robot s serial number IMPORTANT as well as name email and mail addresses along with phone and fax numbers Tell us when and how we can best contact you we will assume email is the be...

Page 68: ...igital outputs OD0 7 Gripper dock or user custom I O USER IO GRIPPER Connector Yes if no gripper Analog input AN0 Joystick speed control USER IO GRIPPER Connector and JOYSTICK Connector Analog input A...

Page 69: ...in 4 and for notifying the attached PC of low power condition DSR pin 6 and HRNG pin 9 The HOST serial connectors are wired DCE for direct connection straight through cable not NULL modem to a standar...

Page 70: ...ripper or docking hardware is installed in a robot the digital I O ports used for those devices will not be available for user custom devices Indicated ports are shared on other connectors Digital inp...

Page 71: ...t 3 Inner breakbeam IR 9 ID4 DIGIN bit 4 Left paddle contact 10 OD4 DIGOUT bit 4 inhibit 11 ID5 DIGIN bit 5 Right paddle contact 12 OD5 DIGOUT bit 5 deploy 13 ID6 DIGIN bit 6 power good 14 OD6 DIGOUT...

Page 72: ...ect input 8 REA Right encoder channel A 9 RPWR Aux1 power enable 10 REB Right encoder channel B 11 APWR Aux2 power enable 12 LEB Left encoder channel B 13 CHRG Charge port detect 14 IR6 IR input bit 6...

Page 73: ...SONAR PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 A0 disc address 2 A1 disc address 3 A2 disc address 4 BINH inhibits return signal 5 INIT starts SONAR ping 6 VCC 5 VDC 7 VCC 5 VDC 8 SGND Common 9...

Page 74: ...ctly with the microcontroller through its respective 6 position microfit connector Indicated lines are shared on other connectors Table 31 Heading correction gyro connector PIN SIGNAL DESCRIPTION PIN...

Page 75: ...shared on the C166 microcontroller connector Table 32 Power connector 5 pos microfit PIN FUNCTION DESCRIPTION 1 Vbat Battery power 2 Gnd Power common 3 Vcc 5 VDC for SONAR 4 Vcc 5 VDC for SONAR 5 nc N...

Page 76: ...connector 3 position connector receptacle female with latch lock Add 20 30 AWG terminal contact pins to crimp with wire Molex part 436450300 www digikey com part WM1846 ND www mouser com part 538 436...

Page 77: ...arate connector provides signal path for an additional four IR sensors Table 36 IR power and signal connectors 3 pos microfits PIN FUNCTION DESCRIPTION 1 Vpp Battery 12 VDC 2 IRn Switching signal 3 Gn...

Page 78: ...ox hrs 8 10 4 6 with PC approx hrs 3 4 2 3 Recharge time hr battery std charger 6 6 High Speed 3 batteries 2 4 2 4 Mobility Mobility Mobility Mobility Wheels 2 foam filled 4 pneumatic tread knobby wav...

Page 79: ...0 34 000 counts mm 128 49 counts rotation 33 500 22 500 Bumpers Optional Optional counts rotation 33 500 22 500 Main Power Standard Standard Controls and Ports Controls and Ports Controls and Ports Co...

Page 80: ...rs and manufacturers of Adept MobileRobots products shall bear no liabilities for operation and use of the robot or any accompanying software except that covered by the warranty and period The develop...

Page 81: ...client server 14 23 CLOSE command 27 Commands 27 Communication packets 23 See Packets Communication rate 25 Components Accessory Panels 10 Basic 1 Body 9 Computer 10 Console 8 Nose 10 Optional 1 User...

Page 82: ...s 2 Nose 10 O Onboard Computer 15 Networking 16 OPEN 25 P Packet 23 Packets Checksum 24 Configuration 35 Data types 23 ENCODERpac 38 Errors 24 Extended 34 GRIPPERpac 42 IOpac 41 JOYSTICKpac 42 Process...

Page 83: ...5 Sounds 38 Specifications 7 StallCount 53 Stalls 12 stallval 12 StallVal 53 stallwait 12 STAT LED 8 subtype 25 Support 3 SYNC 25 T TCM2 Compass 38 TCM2 Compass Calibration 39 Ticksmm 52 TicksMM 33 5...