A full complement of batteries helps balance the robot, too. MOTOR STOP BUTTON. All Pioneer 3-AT and, upon request, some Pioneer 3-DX robots have a STOP
162 KB – 69 Pages
PAGE – 2 ============
© 2006 MobileRobots Inc. All rights reserved. This document, as are the software described in it, is provided under license and may only be used or copied in accordance with the terms of the respective license. Information in this document is subject to change without notice and should not be construed as a commitment by MobileRobots Inc. The software on disk, CD-ROM and firmware which accompany the robot and are available for network download by MobileRobots customers are solely owned and copyrighted or licensed for use and distribution by MobileRobots Inc. Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only. Duplication, distribution, reverse-engineering or commercial application of MobileRobots software and hardware without license or the express written consent of MobileRobots Inc. is explicitly forbidden. PeopleBotŽ, AmigoBotŽ, PowerBotŽ, PatrolBotŽ, ARCSinsideŽ, SetNetGoŽ, MobilePlannerŽ, MobileSimŽ and MobileEyesŽ are trademarks of MobileRobots Inc. Other names and logos for companies and products mentioned or featured in this document are often registered trademarks or trademarks of their respective companies. Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation by MobileRobots Inc. Pioneer 3 Operations Manual Version 3 January 2006 ii
PAGE – 3 ============
MMoobbiilleeRRoobboottss IInncc.. Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using power extension cords. To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories. Keep wheels away from long hair or fur. Never access the interior of the robot with charger attached or batteries inserted. Inappropriate Operation Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to: Dropping the robot, running it off a ledge, or otherwise operating it in an irresponsible manner Overloading the robot above its payload capacity Getting the robot wet Continuing to run the robot after hair, yarn, string, or any other items have become wound around the robot™s axles or wheels Opening the robot with charger attached and/or batteries inserted All other forms of inappropriate operation or care Use MOBILEROBOTS authorized parts ONLY; warranty void otherwise. iii
PAGE – 4 ============
Table of Contents Chapter 1 Introduction1 ROBOT PACKAGES1 Basic Components (all shipments).1 Optional Components and Attachments (partial list)..1 User-Supplied Components / System Requirements..2 ADDITIONAL RESOURCES2 Support Website2 Newsgroups.2 Support2 Chapter 2 What Is Pioneer?.3 PIONEER REFERENCE PLATFORM.3 PIONEER FAMILY OF ROBOT MICROCONTROLLERS AND OPERATIONS SOFTWARE..3 PORTS AND POWER..4 CLIENT SOFTWARE4 ARIA..5 SonARNL Localization, and Navigation5 MODES OF OPERATION6 Server Mode.6 Maintenance and Standalone Modes..7 Joydrive Mode.7 THE PIONEER LEGACY.7 Pioneer AT.7 Pioneer 2Ž and PeopleBotŽ.8 Pioneer 3Ž and Recent Pioneer 2-DX8Ž, -AT8Ž, and PlusŽ Mobile Robots..8 Pioneer 3Ž SH Robots..8 Chapter 3 Specifications & Controls.9 PHYSICAL CHARACTERISTICS AND COMPONENTS.9 DECK.10 MOTOR STOP BUTTON..10 USER CONTROL PANEL.10 Power and Status Indicators10 Buzzer11 Serial Port11 Power Switches11 Reset and Motors..11 BODY, NOSE AND ACCESSORY PANELS12 Nose..12 Access Panels..12 SONAR..12 Multiplexed Operation.12 Sensitivity Adjustment.13 MOTORS, WHEELS, AND POSITION ENCODERS.13 BATTERIES AND POWER13 Battery Indicators and Low Voltage Conditions14 Recharging.14 SAFETY ARCOS WATCHDOGS14 Chapter 4 Accessories15 JOYSTICK AND JOYDRIVE MODE.15 BUMPERS.15 AUTOMATED RECHARGING ACCESSORY16 Manual Operation (Robot Power OFF)..16 Manual Operation (Robot Power and Systems ON)..16 RADIO CONTROLS AND ACCESSORIES..17 iv
PAGE – 5 ============
MMoobbiilleeRRoobboottss IInncc.. INTEGRATED PC.17 Computer Control Panel.18 Operating the Onboard PC18 PC Networking.19 UPS and Genpowerd20 Chapter 5 Quick Start..21 PREPARATIVE HARDWARE ASSEMBLY..21 Install Batteries..21 Client-Server Communications..21 DEMO CLIENT.21 STARTING UP ARIA DEMO.21 Demo Startup Options22 A Successful Connection..22 OPERATING THE ARIA DEMONSTRATION CLIENT..23 DISCONNECTING23 TROUBLESHOOTING..24 Proper Connections..24 Chapter 6 ARCOS25 CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS.25 Packet Checksum..26 Packet Errors26 THE CLIENT-SERVER CONNECTION27 Autoconfiguration (SYNC2)..27 Opening the ServersŠOPEN27 Server Information Packets.27 Keeping the BeatŠPULSE.28 Closing the ConnectionŠCLOSE29 CLIENT COMMANDS..29 Client Motion Commands.31 ROBOTS IN MOTION..31 PID Controls..32 Position Integration..33 DriftFactor, RevCount, and TicksMM.33 SONAR..33 Enable/Disabling Sonar.33 Polling Sequence34 Polling Rate34 STALLS AND EMERGENCIES.34 ACCESSORY COMMANDS AND PACKETS..35 Packet Processing.35 CONFIGpac and CONFIG Command35 SERIAL..36 HOST-to-AUX Serial Transfers.36 ENCODERS..37 BUZZER SOUNDS..37 TCM2..37 ONBOARD PC.38 INPUT OUTPUT (I/O).38 User I/O38 IO packets..39 Bumper and IR I/O39 Joystick Packet39 Gripper.40 Heading Correction Gyro40 AUTOMATED RECHARGING SYSTEM..41 Digital Port Controls.41 Automated Recharging Servers41 Monitoring the Recharge Cycle.42 v
PAGE – 6 ============
Chapter 7 Updating & Reconfiguring ARCOS..43 WHERE TO GET ARCOS SOFTWARE43 ARCOS MAINTENANCE MODE..43 Enabling Maintenance Mode..43 ARCOSCF44 STARTING ARCOSCF44 Start Up Arguments..44 CONFIGURING ARCOS PARAMETERS..45 Interactive Commands45 Changing Parameters..45 SAVE YOUR WORK.45 PID PARAMETERS.47 DRIFTFACTOR, TICKSMM AND REVCOUNT..47 STALLVAL AND STALLCOUNT..48 BUMPERS.48 Chapter 8 Calibration & Maintenance.49 TIRE INFLATION..49 CALIBRATING YOUR ROBOT.49 DRIVE LUBRICATION..49 BATTERIES50 Changing Batteries50 Hot-Swapping the Batteries.50 Charging the Batteries50 Automated Docking/Charging System..50 Alternative Battery Chargers50 TIGHTENING THE AT DRIVE BELT..51 GETTING INSIDE.51 Removing the Nose..51 Opening the Deck..52 FACTORY REPAIRS.52 Appendix A..53 MICROCONTROLLER PORTS & CONNECTORS.53 SH2 MICROCONTROLLER53 Main Power53 Serial Ports.54 User I/O, Gripper and Automated Recharger54 Motors, Encoders and IRs.55 Joystick.55 Bumpers..55 Sonar.55 User Control Board56 Heading Correction Gyro56 Tilt/Roll.56 I2C56 Appendix B.57 MOTOR-POWER BOARD57 Microcontroller Power.57 Radio, Auxiliary and User Power Connectors.57 IR Signal and Power.58 Appendix C..59 SPECIFICATIONS.59 Warranty & Liabilities..61 vi
PAGE – 8 ============
IInnttrroodduuccttiioonn User-Supplied Components / System Requirements Client PC: 586-class or later PC with Microsoft® Windows® or Linux OS One RS-232 compatible serial port or Ethernet Four megabytes of available hard-disk storage ADDITIONAL RESOURCES New MOBILEROBOTS customers get three additional and valuable resources: A private account on our support Internet website for downloading software, updates, and manuals Access to private newsgroups Direct access to the MOBILEROBOTS technical support team Support Website We maintain a 24-hour, seven-day per week World Wide Web server where customers may obtain software and support materials: http://robots.mobilerobots.com Some areas of the 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-based newsgroups through which robot owners share ideas, software, and questions about the robot. Visit the support http://robots.MobileRobots.com website for more details. To sign up for pioneer-users, for example, send an e-mail message to the Œrequests automated newsgroup server: To: [email protected] From:
PAGE – 9 ============
MMoobbiilleeRRoobboottss IInncc.. Please include your robot’s serial number (look for it beside the Main Power switch)we often need to understand your robot’s configuration to best answer your question. Tell us your robot™s SERIAL NUMBER. Your message goes directly to the MOBILEROBOTS technical support team. There a staff member will help you or point you to a place where you can find help. Because this is a support option, not a general-interest newsgroup like pioneer-users, we reserve the option to reply only to questions about problems with your robot or software. See Chapter 8, Maintenance & Repair, for more details. Use MOBILEROBOTS authorized parts ONLY; warranty void otherwise. Figure 2. Pioneer family of robots Chapter 2 What Is Pioneer? Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 1 and Pioneer AT, Pioneer 2-DX, -DXe, -DXf, -CE, -AT, the Pioneer 2-DX8/Dx8 Plus and -AT8/AT8 Plus, and the newest Pioneer 3-DX and -AT mobile robots. These small, research and development platforms share a common architecture and foundation software with all other MOBILEROBOTS platforms, including AmigoBotŽ, PeopleBotŽ V1, Performance PeopleBotŽ and PowerBotŽ mobile robots. PIONEER REFERENCE PLATFORM MOBILEROBOTS platforms set the standards for intelligent mobile robots by containing all of the basic components for sensing and navigation in a real-world environment. They have become reference platforms in a wide variety of research projects, including several US Defense Advanced Research Projects Agency (DARPA) funded studies. Every MOBILEROBOTS platform comes complete with a sturdy aluminum body, balanced drive system (two-wheel differential with casters or four-wheel skid-steer), reversible DC motors, motor-control and drive electronics, high-resolution motion encoders, and battery power, all managed by an onboard microcontroller and mobile-robot server software. Besides the open-systems robot-control software onboard the robot microcontroller, every MOBILEROBOTS platform also comes with a host of advanced robot-control client software applications and applications-development environments. Software development includes our own foundation Advanced Robotics Interface for Applications (ARIA) and ARNetworking, released under the GNU Public License, and complete with fully documented C++, Java and Python libraries and source code. Several third-party robotics applications development environments also have emerged from the research community, including Saphira from SRI International, Ayllu from Brandeis University, Pyro from Bryn Mawr and Swarthmore Colleges, Player/Stage from the University of Southern California and Carmen from Carnegie-Mellon University. PIONEER FAMILY OF ROBOT MICROCONTROLLERS AND OPERATIONS SOFTWARE First introduced in 1995, the original Pioneer 1 mobile robot contained a microcontroller based on the Motorola 68HC11 microprocessor and powered by Pioneer Server Operating System (PSOS) firmware. The next generation of Pioneer 2 and PeopleBot (V1) robots used a Siemens C166-based 3
PAGE – 10 ============
WWhhaatt iiss PPiioonneeeerr?? microcontroller with Pioneer 2 Operating System (P2OS) software. AmigoBot introduced an Hitachi H8S-based microcontroller with AmigOS in 2000. From 2002 until Fall of 2004, Pioneer 3, Performance PeopleBot and PowerBot robots also had an Hitachi H8S-based microcontroller with ActivMedia Robotics Operating System (AROS) software. Now all MOBILEROBOTS platforms use revolutionary high-performance microcontrollers with advanced embedded robot control software based on the new-generation 32-bit Renesas SH2-7144 RISC microprocessor, including the P3-SH microcontroller with ARCOS, µARCS with PatrolBot and our industrial Core and AmigoSH for AmigoBot. But you might not even notice the differences. Because we have taken great care to ensure backward compatibility across ActivMedia Robotics/MOBILEROBOTS entire history of robots, client software written to operate an ancient PSOS-based Pioneer AT will work with a brand new Pioneer 3-DX with little or no modification. Client-server communication over a serial communication link remain identical as do support for all robotics commands. See Chapter 6, ARCOS, for details. PORTS AND POWER Your new Pioneer 3 robot has a variety of expansion power and I/O ports for attachment and close integration of a client PC, sensors, and a variety of accessoriesŠall accessible through a common application interface to the robot™s server software, ARCOS. Features include: 44.2368 MHz Renesas SH2 32-bit RISC microprocessor with 32K RAM and 128K FLASH 4 RS-232 serial ports (5 connectors) configurable from 9.6 to 115.2 kilobaud 4 Sonar arrays of up to 8 sonar each 2 8-bit bumpers/digital input connectors Gripper/User I/O port with 8-bits digital I/O, analog input, and 5/12 VDC power Heading correction gyro port Tilt/roll sensor port 2-axis, 2-button joystick port User Control Panel Microcontroller HOST serial connector Main power and bi-color LED battery level indicators 2 AUX power switches (5 and 12 VDC) with related LED indicators RESET and MOTORS pushbutton controls Programmable piezo buzzer Motor/Power Board (drive system) interface with PWM and motor-direction control lines and 8-bits of digital input I2C interface with 4-line X 20-character LCD support With the onboard PC option, your robot becomes an autonomous agent. With Ethernet-ready onboard autonomy, your robot even becomes an agent for multi-intelligence work. CLIENT SOFTWARE All MOBILEROBOTS platforms operate as the server in a client-server environment: Their microcontrollers handle the low-level details of mobile robotics, including maintaining the platform™s drive speed and heading, acquiring sensor readings, such as from the sonar, and managing attached accessories like the Gripper. To complete the client-server architecture, MOBILEROBOTS platforms require a PC connection: software running on a computer connected with the robot™s microcontroller via the HOST serial link and which provides the high-level, intelligent robot controls, including obstacle avoidance, path planning, features recognition, localization, navigation, and so on. 4
PAGE – 11 ============
MMoobbiilleeRRoobboottss IInncc.. An important benefit of MOBILEROBOTS client-server architecture is that different robot servers can be run using the same high-level client. Several clients also may share responsibility for controlling a single mobile server, which permits experimentation in distributed communication, planning, and control. Figure 3. MobileRobots platforms require a PC to run client software for intelligent robotics command and control operations. ARIA Figure 4. ARIA’s architecture Advanced Robotics Interface for Applications (ARIA) software, including ARNetworking, comes with every MOBILEROBOTS platform. ARIA is a C++-based open-source development environment that provides a robust client-side interface to a variety of intelligent robotics systems, including your robot™s microcontroller and accessory systems. ARNetworking provides the critical layer for TCP/IP-based communications with your MOBILEROBOTS platform over the network. ARIA/ARNetworking is the ideal platform for integration of your own robot-control software, since they neatly handle the lowest-level details of client-server interactions, including networking and serial communications, command and server-information packet processing, cycle timing, and multithreading, as well as support of a variety of accessories and controls, such as a scanning laser-range finder, motion gyros, sonar, and many others. What™s more, ARIA with ARNetworking comes complete with source code so that you may examine the software and modify it for your own sensors and applications. SonARNL Localization, and Navigation 5
162 KB – 69 Pages