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ActivMedia Robotics PeopleBot Скачать руководство пользователя страница 29

Activ

Media Robotics

The Gripper is connected electronically to the H8S-controller through digital input and

output ports of the User I/O connector. AROS Gripper servers interface with the device
and manage the low-level details of its operation. Upon startup or reset, the

microcontroller automatically deploys the lift to its lowest position, gripper paddles

closed.

See the AROS chapters for additional operating and programming details.

S

AFETY

W

ATCHDOGS

Besides the protective fixed-range and breakbeam IRs, and the protective bumpers fore

and aft described earlier in this chapter, your Performance PeopleBot’s AROS also
contains a client-server communication

watchdog

that will halt the robot’s motion if the

connection between your PC client and the robot server is disrupted for a set time
interval, nominally two seconds (

watchdog

FLASH

parameter). The robot will

automatically resume activity, including motion, as soon as communications are
restored.

AROS also contains a stall monitor. If the drive exerts a PWM control signal that equals or
exceeds a configurable level and the wheels fail to turn (

stallval

), motor power is cut

off for a configurable amount of time (

stallwait

). The server software also notifies the

client through the standard Server Information Packet which motor is stalled. When the

stallwait

time elapses, motor power automatically switches back on and motion

continues under server control.

There also is the

LowBattery

FLASH parameter that sets off an audible warning when the

batteries fall below that safe charge level. To avoid systems corruptions, the AROS

servers also force a soft system shutdown when the batteries fall below approximately 11

volts. The soft shutdown includes disconnection from a connected client. The Linux

genpowerd

daemon or Windows’

ups.exe

program monitor the

RI

signal on the

HOST

serial port and shutdown the onboard PC, too.

All these “failsafe” mechanisms help ensure that your robot will not cause damage or be

damaged during operation. You may reconfigure the various FLASH-based parameter
values to suit your application. See Chapter 7,

Updating & Reconfiguring AROS

, for

details.

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Содержание PeopleBot

Страница 1: ...Performance PeopleBot Operations Manual with NEW Hitachi H8S based Controller NEW Plus Motor Power Board ActivMedia Robotics Operating System Software Software...

Страница 2: ...LLC 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 comme...

Страница 3: ...ith 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...

Страница 4: ...ormance PeopleBot Plus 9 MODES OF OPERATION 10 Server Mode 10 Maintenance and Standalone Modes 10 Joydrive and Self Test Modes 11 CHAPTER 3 SPECIFICATIONS CONTROLS 12 MAIN COMPONENTS 12 STRUTS AND DEC...

Страница 5: ...he Beat PULSE 38 Closing the Connection CLOSE 38 MOTION COMMANDS 39 ActivMedia Robots in Motion 39 PID Controls 40 Position Integration 41 SONAR 41 STALLS AND EMERGENCIES 42 ACCESSORY COMMANDS AND PAC...

Страница 6: ...NDIX A 61 H8S PORTS CONNECTIONS 61 H8S MICROCONTROLLER 61 Power Connector 61 Serial Ports 62 User I O Gripper Port 62 The Expansion I O Bus 63 Bumper Ports 63 Motors Encoders and IR Sensors 64 Board v...

Страница 7: ...put your mobile robot and accessories through a burn in period and carefully tested them before shipping the products to you In addition to the companion resources listed above we warranty your ActivM...

Страница 8: ...p server To pioneer users requests activmedia com From your return e mail address goes here Subject choose one command help returns instructions lists returns list of newsgroups subscribe unsubscribe...

Страница 9: ...our message goes directly to the ActivMedia Robotics technical support team There a staff member will help you or point you to a place where you can find help Tell us your robot s SERIAL NUMBER Becaus...

Страница 10: ...ng voice synthesis and recognition for human robot interaction research and applications Every ActivMedia robot comes complete with a sturdy aluminum body balanced drive system two wheel differential...

Страница 11: ...d systems power Although differing in some interfacing features processing power support for various sensors and I O all ActivMedia Robotics server operating system software PSOS P2OS and now AROS are...

Страница 12: ...robots require a client 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 inclu...

Страница 13: ...y distribute WorldPass to anyone you want to use your robot but it will not appear on your own menu since it copies functionalities of Navigator which you may not distribute MAPPER provides the tools...

Страница 14: ...ce PeopleBot s vision system and interfaces with your robot control client software Please consult the ACTS Manual for operation and programming details Laser Navigation and Localization A separate La...

Страница 15: ...o support the many accessories available for your ActivMedia robot as well as your own custom attachments Sporting a more holonomic body larger wheels and stronger motors for better indoor performance...

Страница 16: ...controller comes with fully programmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MHz H8S 2357 microprocessor An additional 512K of dynamic RAM or FLASH ROM is available as optional e...

Страница 17: ...That s where we notify our customers of the upgrades as well as where we provide access to ActivMedia robot users worldwide Joydrive and Self Test Modes Finally we provide onboard software and microc...

Страница 18: ...sensitive bumpers protect the robot and the people and things around it Figure 6 Performance PeopleBot features and accessories In addition a Gripper accessory let s you manipulate table height object...

Страница 19: ...panels and to the upper deck of the robot The right strut hosts the Gripper accessory On the left strut too are the Emergency STOP button and the Computer A V and User Control Panel The top deck carri...

Страница 20: ...uration of accessories and motor activity Your Performance PeopleBot runs continuously for four hours or more with onboard computer When hot swapping remove and replace one at a time IMPORTANT Batteri...

Страница 21: ...ort up to four sonar arrays each with eight transducers that provide object detection and ranging information for collision avoidance features recognition localization and navigation Your Performance...

Страница 22: ...xcept glass or other mirrored surfaces and can detect objects as thin as a human finger They are oriented to trigger when an object is 28 cm 11 5 inches or nearer to the front of the robot and 3 75 cm...

Страница 23: ...engaged and it flashes moderately fast when in maintenance mode The BATTERY LED s apparent color depends on your robot s battery voltage green when fully charged 12 5 volts through orange and finally...

Страница 24: ...as IDE hard disk drives For additional functionality the onboard PC supports PC104 and PC104 plus PCI expansion cards on a card stack Your Performance PeopleBot comes with a full complement of three c...

Страница 25: ...on and configuration we install our robotics and accessory software typically in usr local on Linux systems or in C Program Files ActivMedia Robotics under Windows Of course we install the appropriate...

Страница 26: ...etwork settings Please consult with your network systems administrator for networking details Briefly with Windows go to the Control Panel s Network and Dialup Connections wizard and choose the networ...

Страница 27: ...30 degrees to view people s faces and other room features The swivel base progressively rotates the camera head 100 degrees The camera power is switched by Main Power the handheld controller and throu...

Страница 28: ...ophones and input volumes come tuned for speech recognition through the Festival software as integrated with ARIA The A V system comes with a receiver which you attach to a monitor for offboard video...

Страница 29: ...ntains a stall monitor If the drive exerts a PWM control signal that equals or exceeds a configurable level and the wheels fail to turn stallval motor power is cut off for a configurable amount of tim...

Страница 30: ...into the bin subdirectory For convenience you may access all these from the Start Menu s Programs option The demonstration program s source code and MSVC project and workspace files are in the example...

Страница 31: ...analog to digital I O ports position p Displays the coordinates of the robot s position relative to its starting location bumps b Displays the status of the robot s bumpers sonar s Displays the robot...

Страница 32: ...rive toward an obstacle your robot will not crash because the ARIA demo includes obstacle avoidance behaviors which enable it to detect and actively avoid collisions The ARIA demo displays a menu of o...

Страница 33: ...imally connecting pins 2 3 and 5 of your PC s serial port If you access the wrong serial port the ARIA demonstration program will display an error message If the robot server isn t listening or if the...

Страница 34: ...tion program console should print that the robot is Listening to your voice If the robot recognizes what you have said it will tell you what it heard and corresponding text will appear in the speechSi...

Страница 35: ...s microphone If the ARIA speech demonstration program does not indicate that the robot is Listening when you speak try increasing the microphone volume using your onboard PC s sound controls Control P...

Страница 36: ...s The first time you press and release the joystick fire button after AROS receives the command you engage self calibration mode see below Have your client send the AROS joydrive command number 47 wit...

Страница 37: ...step back and remove any obstacles from within a diameter of four to five feet around before engaging the self test The motor s self test begins by engaging the left drive wheel first forward then in...

Страница 38: ...upported in the various client programming environments that accompany your robot or are available for separate license Experienced ActivMedia robot users can be assured that AROS is upwardly compatib...

Страница 39: ...ta integers that is b0 is the high byte and b1 is the low byte Packet Errors AROS ignores a client command packet whose byte count exceeds 252 total packet size of 255 bytes or has an erroneous checks...

Страница 40: ...to 1 if stalled Bits 1 7 correspond to the front bumper I O digital input states accessory dependent Bit 8 is the right wheel stall and bits 9 15 correspond the rear bumper I O states also accessory...

Страница 41: ...onnection Send in sequence AROS echoes 1 0 1 0 3 x SYNC1 1 none synchronization commands back to client and SYNC2 2 none robot specific autosynchronization after SYNC2 After Established Connection PUL...

Страница 42: ...manual for details 1 0 1 E IOREQUEST 40 none Request one 1 a continuous stream 1 or stop 0 IO SIPs 1 0 1 E PTUPOS 41 2 bytes Msbyte is port number 1 4 lsbyte is pulse width in 100 sec units PSOS or 1...

Страница 43: ...mands to and receives operating information from the server When first started or reset AROS is in a special wait state listening for communication packets to establish a client server connection 17 T...

Страница 44: ...ULSE command 0 no argument 0xFA 0xFB 0x03 0x00 0x00 0x00 just after opening the AROS servers And if your client application will be otherwise distracted for some time periodically issue the PULSE comm...

Страница 45: ...al TR motion control mode recommended your robot s servers work to maintain both platform speed and heading Table 5 AROS motion commands Rotation HEAD 12 Turn to absolute heading at SETRV max velocity...

Страница 46: ...kes to zero translation and rotation velocities with very high deceleration and remains stopped until it receives a subsequent translation or rotation velocity command from the client or until the Eme...

Страница 47: ...ad reckoning from wheel motion derived from encoder readings The robot maintains its internal coordinate position in platform dependent units as reported in the standard SIP Xpos Ypos and Thpos Be awa...

Страница 48: ...number two or more times in a sequence If a sonar number does not appear in an otherwise altered sequence the disc will not fire Note that for compatibility with earlier ActivMedia robot operating sy...

Страница 49: ...ta packets in the allotted cycle time or some packets may never get sent Packet Processing Identical with the standard SIP all AROS server information packets get encapsulated with a header 0xFA 0xFB...

Страница 50: ...onal acceleration deg sec2 ROTDECEL int Current rotational deceleration deg sec2 ROTKP int Current Proportional PID for rotation ROTKV int Current Derivative PID for rotation ROTKI int Current Integra...

Страница 51: ...sound name followed by two long integers which specify the sound data position and length in the playlist Upon receipt of the PLAYLIST command 91 with any or no argument AROS responds with a PLAYLIST...

Страница 52: ...otification by the controller Use regedit and navigate to HKEY_LOCAL_MACHINE SYSTEM ControlSet001 Services UPS Config Change the ShutdownOnBatteryWait dword value to 1 from 2 Use the AROS client maint...

Страница 53: ...ts See Appendix A for connector details Ten of the inputs are used for front and rear bumper inputs of the Performance PeopleBot Similarly the Performance PeopleBot s Motor Power H8S Interface board c...

Страница 54: ...IPPER The Performance PeopleBot s Gripper is connected to the User I O port from which your client may directly control the various Gripper functions and read its sensors using the native AROS command...

Страница 55: ...ssure is roughly 0 5kgs per 200 milliseconds to a maximum grasping pressure of around 2kg grasp_time of 2 seconds Table 11 AROS Gripper server commands AROS COMMAND ARGUMENT LABEL ACTION 1 GRIPopen Op...

Страница 56: ...int Exactly 0xFA 0xFB BYTE COUNT byte Number of data bytes 2 checksum TYPE byte Packet type 0xE0 HASGRIPPER byte Gripper type 0 none 1 User 2 PeopleBot GRIP_STATE byte See nearby Table GRASP_TIME byt...

Страница 57: ...m the onboard PC the computer to HOST connection already is made If you have an onboard PC but prefer to use an external computer for maintenance simply power down the onboard computer If you use radi...

Страница 58: ...the AROS directory and invoke the program cd usr local AROS AROScf options With Windows PCs you may double click the AROScf icon to automatically open a console window and start the program without an...

Страница 59: ...by a client command Use AROScf s Interactive Mode to modify these operating parameters and hence your robot s default operating characteristics Start up AROScf as described in the previous section As...

Страница 60: ...m your robot s microcontroller or help Displays these commands and descriptions SAVE YOUR WORK While changing parameter values in AROScf Interactive Mode you are editing a temporary copy your changes...

Страница 61: ...ence for array 3 See sonar1 above SONAR4 str 0 Ping sequence for array 4 See sonar1 above LOWBATTERY int 110 In 1 10 volts microcontroller alarm activated when battery charge falls below this value WA...

Страница 62: ...evcount parameters to convert your platform independent speed and rotation commands typically expressed in millimeters or degrees per second respectively into platform dependent units The ticksmm valu...

Страница 63: ...abled robots have different numbers of bumper segments front and rear Accordingly the new AROS v1 6 implements three new FLASH parameters that specify states invert or not and numbers of front and rea...

Страница 64: ...acid batteries like those in your Performance PeopleBot last longest when kept fully charged In fact severe discharge is harmful to the battery so be careful not to operate the robot if the battery vo...

Страница 65: ...gative to negative from charger to robot An alternative AC to DC converter battery charger should sustain at least 0 75A at 13 75 to 14 VDC per battery and not more than 2 2 5 amperes per battery The...

Страница 66: ...screws to remove the lower deck of Performance PeopleBot FACTORY REPAIRS If after reading this manual you re having hardware problems with your ActivMedia robot and you re satisfied that it needs repa...

Страница 67: ...ctors are numbered differently depending on the socket type IDC ones are odd and even layers mini and micro fit connectors use successive position numbering See the Figures nearby for examples H8S MIC...

Страница 68: ...d and on User Control DSUB 9 socket PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 nc 2 TXD output 3 RCV Input 4 DTR Input detects attached device and switches TxD and RxD into the uC 5 GND Common 6...

Страница 69: ...0 pos high density IDC PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 AD0 Address bit 0 2 D7 Data bit 7 3 AD1 Address bit 1 4 D6 Data bit 6 5 AD2 Address bit 2 6 D5 Data bit 5 7 AD3 Address bit 3 8 D...

Страница 70: ...dio power enable 10 REB Right encoder channel B 11 APWR Aux power enable 12 LEB Left encoder channel B 13 CHRG Charge port detect 14 IR6 IR input bit 6 15 IR7 IR input bit 7 16 IR4 IR input bit 4 17 I...

Страница 71: ...tion to an analog joystick Indicated lines are shared on other connectors Table 26 Joystick connector 8 pos microfit PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 FB0 Fire button 0 3 AN4...

Страница 72: ...eatures of the two board legacy system with lots more Figure 22 New Plus Motor Power Board Configuration for Current and Temperature Sensing The motor drivers are configured to limit 10A per motor The...

Страница 73: ...wer connector 5 pos microfit PIN SIGNAL DESCRIPTION 1 Vbat Battery power 2 Gnd Power common 3 Vcc 5 VDC for sonar 4 Vcc 5 VDC for sonar 5 nc No connection Radio Auxiliary and User Power Connectors Var...

Страница 74: ...ectors 3 pos microfits PIN SIGNAL DESCRIPTION 1 Vpp Battery 12 VDC 2 IRn Switching signal 3 Gnd Power signal ground Table 33 Additional IR connector 8 pos latchlock 0 1 header PIN SIGNAL DESCRIPTION 1...

Страница 75: ...ty Wheels 2 pneumatic 2 pneumatic 4 pneumatic 2 pneumatic 2 solid rubber 2 solid rubber diam mm 191 191 220 191 165 165 width mm 50 50 75 50 37 37 Caster mm 75 75 na 75 75 75 Steering Differential Dif...

Страница 76: ...00 22 500 33 500 39 000 18 400 Breakbeam IR just forward each strut from top to bottom decks na na na na na Fixed length IR each side na na na na na Controls and Ports Main Power Charge Port Joydrive...

Страница 77: ...botics 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 developers marketers or manufacturers shall...

Страница 78: ...72 44 Concord Street Peterborough NH 03458 603 924 9100 603 924 2184 fax http www activrobots com...

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