K-Team Koala 2.5 Скачать руководство пользователя

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Revisions history

Rev. Date (EUR)

Description

1.0

21.02.2014

Initial creation

1.1

15.04.2014

Add Magnetometer description

1.2

25.04.2016

Correction of GPS data acquisition

Documentation Authors

Julien Tharin, Frédéric Lambercy and Timothée Carron
K-Team S.A.
Z.I. Les Plans-Praz 28
CH-1337 Vallorbe
Switzerland

E-mail

[email protected]

URL

www.k-team.com

Trademark Acknowledgements

IBM PC

: International Business Machines Corp.

Macintosh

: Apple Corp.

SUN Sparc-Station

: SUN Microsystems Corp.

LabVIEW

: National Instruments Corp.

Matlab

: MathWorks Corp.

Khepera

: K-Team and LAMI

Legal Notice

•

The content of this manual is subject to change without notice

•

All efforts have been made to ensure the accuracy of the content of
this manual. However, should any error be detected, please inform
K-Team.

•

The above notwithstanding, K-Team can assume no responsibility
for any error in this manual.

Содержание Koala 2.5

Страница 1: ...KOALA 2 5 User manual Revision 1 2...

Страница 2: ...www k team com Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Co...

Страница 3: ...er Gyroscope sensor 12 4 IN DEPTH LOOK 13 4 1 ULTRASONIC SENSORS 13 4 2 BATTERY 15 4 2 1 NiMH battery 15 4 2 2 Li Pol battery 16 4 2 3 Li Pol External charger 16 4 3 DOCKING STATION CONNECTION PADS 17...

Страница 4: ...use this handbook This handbook introduces the Koala 2 5 robot and its various operating modes If this handbook does not answer one of the problems you are confronted with please consult the K Team w...

Страница 5: ...not manually force any mechanical movement Avoid to force by any mechanical way the movement of the wheels or any other part Never open the case Only qualified technicians are allowed to do so 1 3 Re...

Страница 6: ...Koala 2 5 User Manual Rev 1 1 3 2 UNPACKING AND INSPECTION 2 1 Package Content Koala robot Battery Battery charger Power supply adapter...

Страница 7: ...User Manual Rev 1 1 4 3 THE ROBOT AND ITS ACCESSORIES 3 1 Global View Figure 3 1 Top view 1 Wheels 2 Ultrasonic sensor 9x 3 Mounting plate 4 Pico ITX Front Panel 5 IO and power supply terminal blocks...

Страница 8: ...Koala 2 5 User Manual Rev 1 1 5 Figure 3 2 Rear view 7 Reset button 8 Charge LED 9 Power LED 10 On Off switch 11 Battery 12 External power supply connector...

Страница 9: ...Koala 2 5 User Manual Rev 1 1 6 Figure 3 3 Bottom view 13 Gear Box 14 Docking station connection...

Страница 10: ...h these settings 115200 baud 8N1 Open your serial software on your computer and use settings above For Windows you can use Teraterm http ttssh2 sourceforge jp On Linux minicom Open a terminal console...

Страница 11: ...t program C K Team S A Koala version A revision 2 PID set to default values P 10 I 3 D 1 Figure 3 5 koala_test output You can quit with the keys q and return To shutdown the robot from the terminal us...

Страница 12: ...ion of the Koala microcontroller software otherwise an error message is printed Koala V2 5 robot test program C K Team S A Koala version A revision 2 PID set to default values P 10 I 3 D 1 Figure 3 7...

Страница 13: ...meaning that you can charge it even if it is off only for the Li Pol version the NiMH battery can be charged only by the external charger To turn the robot on put the switch low To turn it off put the...

Страница 14: ...ssible to measure distance of nearer obstacles due to the principle of operation of this kind of sensors 3 3 8 Contacts for docking station The Koala 2 5 has some apparent contacts below its body mean...

Страница 15: ...f the Koala will automatically retrieve main data from the GPS position speed date hour etc But the user can also directly send NEMA command to the module to obtain more specific information see NMEA_...

Страница 16: ...obstacle is seen in the 250cm range then the value will be set to 1000 Finally when disabled the sensor will always return 2000 Each sensor can be disabled in order to get higher refresh rate for a pa...

Страница 17: ...al Rev 1 1 14 Figure 4 1 Ultrasonic sensors viewed from top Danger High voltage There is about 85Vpp on the PCB in the area of the ultrasonic sensors never touch it Turn the ultrasonic sensors off whi...

Страница 18: ...dedicated external charger If the battery is inserted in the Koala and the external power supply is connected the battery won t be charged The internal charger of the Koala will be automatically disab...

Страница 19: ...e than 2 5 hours with the motors on and 4 hours with motors off running with a basic configuration There s no specific power management on the Koala the battery will automatically cut off when the vol...

Страница 20: ...these contacts is to charge the embedded battery works only with Li Pol Battery Apply 15V between VIN and GND max 18 0V to perform the charge The VIN signal is the same as the external power supply co...

Страница 21: ...Power output connection These four open drain outputs could drive any charge up to 30V 3A The protection will be made by the polyfuse of the selected voltage Vbat 5V or 3 3V Input Two digital inputs...

Страница 22: ...CB Figure 4 6 Position of the LSM9DS0 The accelerometer is oriented with the pin 1 to the front right this returns a positive value for X axis when going forward The Y axis is positive on the right an...

Страница 23: ...d the accelerometer axis Figure 4 8 Direction of detectable angular rates TOP view The data format is on 16 bits too the full range is configured at 2 000dps 360dps 5 898 and the data rate is configur...

Страница 24: ...the accelerometer This means a new data is available every 100ms If the auto mode is activated a packet of 3 data X Y Z will be sent at a frequency of 10Hz The Magnetometer needs to be calibrated by...

Страница 25: ...tion date and hour speed and altitude If you need more specific data you can directly configure the GPS module using the X command see NMEA_manual_for_Fastrax_ IT500_Series_GPS_receivers pdf documenta...

Страница 26: ...tegrated extreme GMA 3650 technology Serial AT SATAII interface with 300MB s transfer rate Audio Realtek ALC888 Audio LAN interface Intel 82583V Giga LAN Power DC 5V input Hard drive 40GB SSD Operatin...

Страница 27: ...rectly accessible on the TOP of the Koala as shown below Figure 4 10 Pico ITX front panel 1 Serial port RS232 Male connector Can be accessible through dev ttyS0 2 2x USB 2 0 connector 3 Gigabit Ethern...

Страница 28: ...careful when placing a payload on the Koala the tires will crush and the diameter will be slightly modified For example with a payload of 3kg the effective diameter falls to 80 5mm changing the speed...

Страница 29: ...o the speed controller a current limitation controller verifies that the current of each motor does not exceed the configured value default 1 0A In this case the controller will not try to reach the d...

Страница 30: ...s at once The solution is to use the speed control with acceleration ramp or use a weaker PID decrease the Proportional part The speed unit corresponds to the difference measured in position between t...

Страница 31: ...means that at every control loop the speed will be increased by Acc_Inc A value of 4 means that every 5 control loops 50ms the speed will be modified value from 0 to 255 Default 1 Min_Speed this param...

Страница 32: ...e acceleration This type of control must be preferred to the simple speed profile in order to avoid high current peaks and preserve the mechanical parts The user needs to adapt the parameters Acc_Inc...

Страница 33: ...fault value 10 To calculate the real distance travelled by the motor use the formula below Wheel diameter 82 5mm Revolution resolution 23 400 pulses 2843 90 23400 5 82 pulses pulses pulses Wheel pulse...

Страница 34: ...Fi or wired Ethernet Connect directly the robot see chapter Direct Connection Open the Network connection Figure 3 6 Ubuntu desktop If you have the optional USB WiFi key this key model WNA3100 from Ne...

Страница 35: ...iles doc contains the API documentation auto generated Open in your favorite browser the file doc html index html examples contains examples using the library src contains the source code of the libra...

Страница 36: ...will create a Debug part of the project 7 Push OK button then Finish 8 Go to menu File New File and choose test c as filename Insert your C code copying home user koala_library template prog tremplate...

Страница 37: ...the previous chapter Programming with Eclipse GUI choose Debug on the menu Run The basic commands of gdb are r run s next one step in the program enter in subroutines n one step in the program b line...

Страница 38: ...Into a Terminal go to home user koa2 5_bootloader folder and run koa2 5_bootloader f FIRMWARE hex where FIRMWARE hex is the micro controller firmware file to update with 5 7 Serial port By default the...

Страница 39: ...apter Configuration On the PC for transferring from the PC to the KOALA execute the following command scp FILE user KOALA_IP home user where FILE is the file to transfer KOALA_IP is the Koala ip addre...

Страница 40: ...sent by the robot to the Pico ITX it is starting with the same character that was initiating with the command but using lower case and followed if necessary with numerical parameters The Koala could a...

Страница 41: ...sition Bit 3 Motor Current Bit 4 Accelerometer value Bit 5 Gyroscope value Bit 6 GPS data Bit 7 GPS NEMA Data will return all GPS raw data Bit 8 Magnetometer value Example A 6 a r B Read Firmware Vers...

Страница 42: ...n create a reset Adapt the PID if needed or use the K command Example D 100 100 d r E Read Motor speed Command E Answer e MotL_Speed MotR_Speed r Function Reads actual motor speed The unit is the same...

Страница 43: ...are the possible values 0 Obstacle 25cm 25 250 Obstacle distance 1000 No obstacle detected 2000 Sensor disabled Example G g 50 60 180 250 200 1000 2000 0 0 r H Configure PID controller Command H Kp K...

Страница 44: ...n Margin of the position control to detect when the robot reach its target Max_Current Maximum current for each motor If above this value the controller will limit the motor command unit is 0 1 A 0 di...

Страница 45: ...Command N Answer n x1 y1 z1 x2 x10 y10 z10 r Function Reads the last 10 values of the XYZ gyroscope value X1 is the latest value and x10 the oldest Example N n 0 0 550 0 0 553 0 0 552 0 0 551 0 0 554...

Страница 46: ...51 6838 W 17 08 34 25 11 13 5 5 650 r R Read I2C external bus Command R I2C_addr Reg Nb_Read Answer r Val1 Val2 Valn r Function Reads n bytes on the I2C external bus terminal blocks or docking station...

Страница 47: ...A Chrg_Current Charge Current unit is 10mA Example V v 0 115 450 56 0 r W Write on the I2C external bus Command W I2C_addr Reg Data_1 Data_2 Data_n Answer w r Function Writes n Bytes on the external I...

Страница 48: ...op 5 Current limitation 6 Error Motx_OnTrg Define if the target is reached position control Example Y y 1 3 1 0 r Z Reset microcontroller Command Z Answer z Function Resets the microcontroller used to...

Страница 49: ...Koala 2 5 User Manual Rev 1 1 46 7 Mechanical drawings Unit is mm Figure 6 1 Top view...

Страница 50: ...Koala 2 5 User Manual Rev 1 1 47 Figure 6 2 Right view Figure 6 3 Front view...

Страница 51: ...within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manuf...

Страница 52: ...mercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized...

Страница 53: ...K Team S A Z I Les Plans Praz 28 1337 Vallorbe Switzerland...

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