Adept MobileRobots Pioneer LX, Руководство пользователя

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Pioneer LX User's Guide, Rev. A
Page 8 of 125
Chapter 1: Introduction
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Some Pioneer commands are not implemented on the Pioneer LX, such as:
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ENCODER
command and Encoder packets
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GYRO
calibration commands
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PID commands (
ROTK
... and
TRANSK
...)
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General purpose digital and analog IO is done via embedded computer operating
system and
ArMTXIO
class, not through robot connection or IO packets.
Body, Drive and Control
The Adept Pioneer LX is medium-sized, lightweight, and highly maneuverable. It has a strong
aluminum chassis and solid construction that makes it very durable. It is insulated against
water splashes and dust, with an IP rating of IP-40.
The Pioneer LX platform is a two-wheel, differential-drive vehicle, with spring-loaded passive
casters in front and rear, and independent drive-wheel spring-suspension for balance. Its solid,
foam-filled wheels are at the mid-line of the platform, so that it can turn in place with zero
turn radius.
The Pioneer LX has two degrees of freedom, and is controlled from software by requesting
translational velocity (forwards/backwards), and a separate, simultaneous rotational velocity
(clockwise/counterclockwise). The robot's controller will automatically control the robot's drive
system to achieve those requested velocities (using requested acceleration and deceleration
parameters).
The Pioneer LX controller uses encoders to automatically integrate wheel odometry, accurately
maintain requested velocity, and, combined with data from an internal gyroscopic sensor, com-
putes an estimated pose of the robot: a point (X, Y) in a cartesian coordinate system, plus an
orientation θ. This pose estimate is provided to software along with other robot state infor-
mation every 100ms (10hz).
For more information about robot programming and communication, see See Programming
on page 49.
What's Included - Basic Components
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One fully-assembled Pioneer LX, including:
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laser rangefinder,
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front bumper panel
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front- and rear-facing sonar sensors
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MTX-Lynx Core, a module containing robot controller and power management,
and a user-accessible computer (Intel PC) with either Linux or Windows and all
software preinstalled and ready to use.
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Removable plastic skins
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Top plate with operator panel, controls and connectors
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Equipment mounting deck
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One fully-charged battery
This is shipped separately from the platform, due to air shipping regulations.
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Automated charging station (docking station)