Segway RMP 210 V3, User Manual

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RMP 210
RMP 210
Capabilities
The RMP is meant to be used by integrators when creating mobile robotic products. As such, the RMP was designed with flexibility
and expandability in mind.
Driving
The RMP can drive forward, reverse, and can turn in place. A variety of parameters can be adjusted for easier driving in different
circumstances, making it possible to have fine control at slow speeds and at high speeds. Adjustable parameters include maximum
velocity, maximum acceleration, maximum deceleration, maximum turn rate, and maximum turn acceleration.
For safety, a disable button is provided with the RMP. When pressed, the disable button will cause the RMP to shut down. A Decel To
Zero (DTZ) command can also be sent, either by hardware button (not supplied) or by software command. This command causes the
RMP to decelerate and come to a stop.
Payload
Users can mount equipment to the rails along the sides of the RMP. Mounting holes are provided along the tops of the rails and on
the ends of the rails.
The maximum total payload is 45 kg (100 lbs), evenly distributed.
Communication
Communication with the system for command and control is via Ethernet. The primary method of communication is via a ROS
driver that Stanley Innovation provides. This driver performs a Cyclic Redundancy Check (CRC) on all data and ensures that the
communication link is updated periodically to ensure the on-board firmware does not automatically slew the commands to zero.
Power
With the auxiliary battery, the RMP can provide power for additional equipment. Each RMP has space for two Power Converters. For
more information see "Power Converter," p. 22.
Control Interface
Stanley Innovation provides a ROS driver. For details visit
http://wiki.ros.org/Robots/RMPv3