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Drive track shaft
*Before pulley-belt speed reduction (34:20), the motor shaft encoder resolution is 722 counts per revolution.
The Jaguar Control program
The Jaguar Control program is written with Visual Studio C# under .Net 3.5 framework. 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 Robot Control” for further information.
The control program uses the supporting components and libraries that should have been installed when
you install the control program from the installation CD:
AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera
(P/N: AXCAM-A) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.
Laser Scanner
Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level
conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.60.
Default settings for the serial port are: 19200, 8, N, 1, no flow control, TCP, port number 10002 for Hokuyo
URG-04LX.
For URG-04LX-UG01(5.6m) or UTM-30LX(30m) setting is: 115200, 8, N, 1, no flow control, TCP, port number
10002
Date and communication protocol could be found in “URG-04LX commspec_eg.pdf”.
GPS
GPS sensor output interface is RS232 serial port. Default settings for the serial port are: 115200, 8, N, 1, no flow
control, TCP, port number 10002
NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is
SNSRXCFG_200.exe.
Track-arm motor (1 unit)
DC motor with steel gearbox
Motor rated voltage
24V
Motor rated current
2.75A
Motor max current
16A
Shaft rated speed
19RPM
Shaft rated torque
92Kg.cm
Shaft encoder resolution
1083 counts per revolution
Track-wheel motors (2 units)
DC motors with steel gearbox
Motor rated voltage
24V
Motor rated current
2.75A
Motor max current
16A
Shaft rated speed
170RPM
Shaft rated torque
14.5Kg.cm
Shaft encoder resolution
1227.4 counts per revolution *
