Dr Robot Jaguar V6, User Manual

Page 1: ...t 2001 2018 DrRobotInc AllRightsReserved www DrRobot com V 03 02 18 Q All Terrain Autonomous Navigation Robot with GPS IMU JaguarV6withManipulatorArm User Guide Install Fuse Charge the battery pack be...

Page 2: ...er draining the battery such as keeping the robot on without charging will damage the battery Neverpositionyourfinger s inbetweenthetrackand orarm smovingparts evenwhenthepowerisoff Therobotarms mustb...

Page 3: ...panying with Dr Robot s product are solely owned and copyrighted by Dr Robot End users are authorized to use for personal research and educational use only Duplication distribution reverse engineering...

Page 4: ...t 9 Overlook 9 Operation Scenario 10 Software Installation 10 III Operation ofJaguarRobot 11 Turn on off the Platform 11 Using Dr Robot Jaguar Control Program 11 Recharging 19 IV HardwareandElectronic...

Page 5: ...rticulated sensor platform Integrated software features independent joint space control as well as gripper Cartesian space control While it only has 3 rotation joints excluding gripper when working to...

Page 6: ...andmark GPS Optional Sealed weather resistant enclosure Temperature 30 to 50 Shock resistant chassis Motion and sensing controller PWM Position and Speed Control 5Hz GPS and 9 DOF IMU Gyro Acceleromet...

Page 7: ...down Max 80W 450Kg cm Rated current 2 75A Max current 16A Height 400mm 15 7 manipulator at rest Width 700mm 27 6 Length 980mm 38 5 extended arms 640mm 25 2 folded arms Weight 41Kg Standard Configurat...

Page 8: ...r with 5Hz Update Rate and WAAS 1 IMU9002 9 DOF IMU Gyro Accelerometer Compass 1 WRT802N 802 11N wireless AP router 1 BPN LP 20 22 2 V 20 AH LiPo Battery Pack 1 LPBC5000 2A LiPo Battery Charger 2 GPC0...

Page 9: ...identify on the Jaguar V6 robot Jaguar V6 with Manipulator Arm Platform with Options Handle Bar Options Power Switch Outdoor GPS Joint 2 Front Camera Front Laser Scanner Headlights Front Arm Track Dri...

Page 10: ...l the operator under any outdoor lighting environment even under direct sunshine The included Jaguar Control program will therefore be projected on the head mounted display where you could see all the...

Page 11: ...the red button the system will shut down Using Dr Robot Jaguar Control Program After turn on the robot please make sure your PC could find the WiFi network with SSID DriJaguar and connect with this n...

Page 12: ...not get the correct Latitude and Longitude position by clicking on map before the map loading is finished When loaded click OK button FlyToSetPoint button will bring you to the location latitude longi...

Page 13: ...the motor driver board is in the Estop state due to the safety reason You need use EStopWheel button to release the motor driver board from emergency stop state You also need switch to FlipArm tag an...

Page 14: ...pper Arm down Z Set Flipper Arm initialize position X Set front flipper arm to same position M Set Rear flipper arm to same position E Set Front flipper arms to up 30 degree D Set Front flipper arms t...

Page 15: ...tion After powering up the robot or when the actual arm position is different from the arm position window shown on the right you should reset the arm track flipper arm position as following drive the...

Page 16: ...you need to stop the robot when voltage is below marked voltage 22 2V in order to prevent battery damage Motor temperatures are also displayed here Encoder Pos boxes show the encoder position values...

Page 17: ...he information about the front rear flip arm motors and the state of the flip arm motor driver board Arm tag shows Joints Angle Information and Control Value Arm J4 is Gripper It would be better if yo...

Page 18: ...r1 tab will display motor driver controller 1 states for Joint 1 and 2 If you did not get the sensor reading back you could click QueryCmd button to send query command Please make sure the channel 1 a...

Page 19: ...gram again Recharging Jaguar robot uses high performance LiPo batteries Extreme caution is needed when dealing with this type of battery explosion and damage could occur Please read the Charge Station...

Page 20: ...and error message maintenance and safety message please refer to Intelligent Digital Balance Charger Operation Manual IV HardwareandElectronics NetworkSettings Wireless Router Setting The on robot pr...

Page 21: ...o flow control Ethernet Module 4 192 168 0 62 Port 1 Port 10001 Manipulator Arm Joint pan Tilt motor driver board TCP 115200 8 N 1 no flow control Port 2 Port 10002 reserved TCP 115200 8 N 1 no flow c...

Page 22: ...DOF IMU Gyro Accelerometer Co mpass GPS Module Camera AV Wireless AP Router LAN Power 12V Power 5V Antenn a Head Lights DC DC Power Board 5V 5V 5V 3 3 V Contr ol Port Powe r IN Chargi ng Plug ON LiPo...

Page 23: ...r 5V Motor Control Channel 0 Channel 0 will control front left motor and channel 1 will control front right motor Motor Control Channel 1 Channel 0 will control rear left motor and channel 1 will cont...

Page 24: ...6m and 0 1 30m Input Power 5V Detectable Range 0 02 4m Accuracy 0 02 to 1m 10mm 1 to 4m 1 Angular Resolution approx 0 35 o 360 o 1024 partition Scanning Angle 240 o Input Power 5V Detectable Range 0...

Page 25: ...iver boards are used Input power H Bridge 2 channels Max current up to 10A continuous power per channel peak up to 20A per channel for a minute Input voltage 7 30V Camera Input power 12V Resolutions 7...

Page 26: ...ework You could download the development tools Visual Studio 2008 express under Net 3 5 framework free from Microsoft Please refer to the Dr Robot Application Development Notes on C Programming for Ro...

Page 27: ...50 make sure you know where it is and not in stuck state On control board we set current limitation for this joint It will enter emergency stop state when current is over 12A or current over 7A for ov...

Page 28: ...ver the readings to temperature from the sample codes Pan unit Gripper Motor Driver board 3 channel 1 Encoder One circle count is around 14275 33 with external gear ratio 46 12 Angle Resolution 14275...

Page 29: ...to temperature from the sample codes The rotation angle range is 180 degree 180 degree Advanced Development Please refer to document GPS IMU Sensor Module and Outdoor Autonomous Navigation Program fo...