Pioneer 2TM Manuel d'utilisateur

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Pioneer 3™
&
Pioneer 2™
H8-Series
Operations Manual
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Résumé du contenu

Page 1 - Operations Manual

Pioneer 3™ & Pioneer 2™ H8-Series Operations Manual

Page 2 - Robotics

What is Pioneer? What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 1 and Pio

Page 3

ActivMedia Robotics ActivMedia robots, including Pioneer 3, Performance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontroll

Page 4 - Table of Contents

What is Pioneer? AT8 Plus now come with a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. CLIENT SOFTWARE Al

Page 5

ActivMedia Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications. S

Page 6

What is Pioneer? Pioneer 1 and AT Figure 5. The original Pioneer 1s Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rub

Page 7 - Introduction

ActivMedia Robotics performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/ power and sonar-controller boards for a versatile

Page 8 - ADDITIONAL RESOURCES

What is Pioneer? MODES OF OPERATION You may operate your Pioneer 2 and 3 robots in one of five modes:  Server  Joydrive  Self-test  Maintena

Page 9

ActivMedia Robotics Specifications & Controls Chapter 3 ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of

Page 10 - What Is Pioneer? Chapter 2

Specifications and Controls MAIN COMPONENTS ActivMedia robots are composed of several main parts:  Deck  Motor Stop Button  User Control Panel

Page 11 - PLUS MOTOR-POWER BOARD

ActivMedia Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT

Page 12 - CLIENT SOFTWARE

Copyright © 2003, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not be

Page 13 - THE PIONEER LEGACY

Specifications and Controls To engage AROS maintenance mode, press and hold the white MOTORS button, press and release the red RESET button, then rele

Page 14

ActivMedia Robotics Each sonar array comes with its own driver electronics for independent control. Each array’s sonar are multiplexed; the sonar acq

Page 15

Specifications and Controls and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually

Page 16 - MODES OF OPERATION

ActivMedia Robotics DOCKING/CHARGING SYSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an automated mechanism. Onboard c

Page 17 - PHYSICAL CHARACTERISTICS

Specifications and Controls mechanism. And the charging mechanism will not activate until you disengage the motors, either manually or programmatical

Page 18 - MAIN COMPONENTS

ActivMedia Robotics ONBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrated PC for

Page 19

Specifications and Controls The controls and ports use common connectors: standard monitor DSUB and PS/2 connectors on the mouse and keyboard. The E

Page 20

ActivMedia Robotics 802.11b-compatible wireless Ethernet card in one of its slots. The wireless Ethernet antenna sits atop the top deck. To complete

Page 21 - BATTERIES AND POWER

Specifications and Controls below safe operating level of ~11 VDC.10,11 Genpowerd running on the onboard Linux system or ups.exe running under Window

Page 22

ActivMedia Robotics Quick Start Chapter 4 This chapter describes how to quickly set up and operate your new ActivMedia robot with the ARIA demonstrati

Page 23 - DOCKING/CHARGING SYSTEM

ActivMedia Robotics Important Safety Instructions  Read the installation and operations instructions before using the equipment.  Avoid using pow

Page 24

Quick Start Install Batteries Out of the box, your ActivMedia robot comes with its batteries fully charged, although shipped separately, unless you h

Page 25 - ONBOARD PC

ActivMedia Robotics needed), by starting and testing the robot, and by connecting the client PC with the AROS controller via a serial link. Now it is

Page 26

Quick Start A Successful Connection Table 2. ARIA demo operation modes MODE HOT KEY DESCRIPTION laser l Displays the closest and furthest reading

Page 27

ActivMedia Robotics as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly. Ac

Page 28 - SAFETY AROS WATCHDOGS

Quick Start To test for range limits, simply pick up the robot and move it closer to the basestation radio modem or access point. If the robot was o

Page 29 - Quick Start

ActivMedia Robotics Chapter 5 Joydrive and Self-Tests Although not all models come standard

Page 30 - TARTING UP CLIENT AND SERVER

Joydrive and Self Tests ENGAGING SELF-TESTS To enable self-test mode, press the white MOTORS button twice after startup or RESET.14 ATTENTION! Place

Page 31 - % ./demo

ActivMedia Robotics ActivMedia Robotics Operating System Chapter 6 All ActivMedia robots use a client-server mobile robot-control architecture origin

Page 32 - OPERATING THE ARIA

ActivMedia Robotics Operating System always first. Some data are strings of up to a maximum 200 bytes, prefaced by a length byte. Unlike common dat

Page 33 - UICKSTART TROUBLESHOOTING

ActivMedia Robotics SERVER INFORMATION PACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly sends a packet of information ov

Page 34

Table of Contents CHAPTER 1 INTRODUCTION...

Page 35 - Joydrive and Self-Tests

ActivMedia Robotics Operating System CLIENT COMMANDS AROS has a structured command format for receiving and responding to directions from a client f

Page 36 - ATTENTION!

ActivMedia Robotics DCHEAD 22 sint Heading setpoint relative to last setpoint; ± degrees (+ = ccw) 1.0 SETRA 23 sint Rotational (+)accelerati

Page 37 - Chapter 6

ActivMedia Robotics Operating System to AUX2 H8S serial port GETAUX2 67 int Request to retrieve 1-200 bytes from the AUX2 H8S serial port; 0 flush

Page 38

ActivMedia Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configuration information back to the client following the last synchroni

Page 39 - SERVER INFORMATION PACKETS

ActivMedia Robotics Operating System With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based defa

Page 40 - CLIENT COMMANDS

ActivMedia Robotics ActivMedia Robots in Motion ActivMedia robots use position, as opposed to velocity, motion controls to translate the platform a ce

Page 41

ActivMedia Robotics Operating System At the same time, AROS reports back to the client in the standard SIP the robot’s position and speed. Not all r

Page 42 - THE CLIENT-SERVER CONNECTION

ActivMedia Robotics Consequently, we typically use a minimum value for Ki in the range of 0 to 10 for lightly to heavily loaded robots respectively. P

Page 43

ActivMedia Robotics Operating System sonar array number one; numbers nine through 16 get added to the sequence for sonar array number two; 17-24 spec

Page 44 - MOTION COMMANDS

ActivMedia Robotics Normally enabled (default was disabled in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL g

Page 45

ActivMedia Robotics STARTING UP CLIENT AND SERVER ...

Page 46

ActivMedia Robotics Operating System received a command from a client. Restarts on restoration of connection. P2MPACS byte 1 enables alternative SIP

Page 47

ActivMedia Robotics For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the HOSTBAUD cli

Page 48 - STALLS AND EMERGENCIES

ActivMedia Robotics Operating System Table 11. GRIPPERpac state byte BIT FUNCTION STATE 0 Grip limit Paddles fully open when 0; otherwise betwe

Page 49

ActivMedia Robotics Onboard PC Communication between the onboard PC and the H8S microcontroller is RS232 serial through the respective COM1 (Windows)

Page 50 - SERIAL PORT COMMUNICATIONS

ActivMedia Robotics Operating System modifications to the robot's heading are done on the client side, as supported in the latest versions (1.3

Page 51 - ENCODER PACKETS

ActivMedia Robotics For example, here’s the AROS client command to set digital output ports one and three (OD1 and OD3), reset port four (OD4), and le

Page 52 - BIT FUNCTION STATE

ActivMedia Robotics Operating System Expansion I/O Four alternative A/D ports appear at the 40-position Expansion I/O connector of the H8S microcontr

Page 53

ActivMedia Robotics disengage the motors while charging, such as by disconnecting, you will have to re-engage them from the client or by manually pres

Page 54 - INPUT OUTPUT (I/O)

ActivMedia Robotics Operating System The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is a

Page 55

ActivMedia Robotics Updating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your ActivMedia robot get stor

Page 57

Updating and Reconfiguring AROS Text prompts will help you get connected with your ActivMedia robot’s H8S-based controller and update its AROS server

Page 58

ActivMedia Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S-based microcontroller and then exits, much l

Page 59 - IMPLE AROS UPDATES

Updating and Reconfiguring AROS See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 16

Page 60 - STARTING AROSCF

ActivMedia Robotics Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type Default Description CONSTANTS Should no

Page 61 - KEY ARGUMENT DESCRIPTION

Updating and Reconfiguring AROS ROTKP int 30 Proportional PID for rotation ROTKV int 200 Differential PID for rotation ROTKI int 0 Integral PID

Page 62 - PID PARAMETERS

ActivMedia Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platform-dependent values. Your client must

Page 63

Updating and Reconfiguring AROS Set the FrontBump and RearBump parameters to the number of bumper segments for the front and rear bumpers, repectivel

Page 64 - TICKSMM AND REVCOUNT

ActivMedia Robotics Maintenance & Repair Chapter 8 Your ActivMedia robot is built to last a lifetime and requires little maintenance. TIRE INFLATI

Page 65 - BUMPERS

Maintenance and Repair to the charger and insert it into the charge socket that is just below your robot’s Main Power switch. The LEDs on the charge

Page 66

ActivMedia Robotics Remove the small plastic plug which is near the hinge on the top plate and near the edge by the wheel. Under it, you will see the

Page 67 - Maintenance & Repair

ActivMedia Robotics Introduction Figure 1. Pioneer Mobile Robots first appeared commercially in 1995. Chapter 1 Congratulations on your purchase a

Page 68 - TIGHTENING THE AT DRIVE BELT

Maintenance and Repair Figure 22. Remove indicated screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive

Page 69 - GETTING INSIDE

ActivMedia Robotics Appendix A H8S PORTS & CONNECTIONS Figure 23. Mini- and micro-fit style connector numbering This Appendix contains pinout and

Page 70 - FACTORY REPAIRS

Appendix A: Ports and Connections Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for

Page 71 - Appendix A

ActivMedia Robotics Lift direction Inner breakbeam IR 9 ID4 DIGIN bit 4; Left paddle contact 10 OD4 DIGOUT bit 4; Automated docking/charging “inhi

Page 72

Appendix A: Ports and Connections Table 24. Bumper ports (10-pos latching IDC) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 BP0 Bumper bit

Page 73

ActivMedia Robotics Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are s

Page 74

Appendix B: Motor-Power Board Connectors Appendix B Power Distribution ActivMedia Robotics’ original H8S-based Pioneer 2 robots have two separate boa

Page 75

ActivMedia Robotics Table 28. Motor Temperature Sensors Connector (4-pos microfit) PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 T2 To AN2-based temp sensor

Page 76 - Appendix B

Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unswitched) PIN CONNECTION PIN CONNECTION 1 Vcc 7

Page 77 - PIN SIGNAL DESCRIPTION

ActivMedia Robotics Appendix C RADIO MODEM SETTINGS The radio modem-based wireless serial accessory comes pre-configured for use with your ActivMedia

Page 78 - LEGACY MOTOR-POWER

Congratulations  Global Positioning System  Heading-correction gyro  Compass  Bumper rings  Serial cables for external connections  Many

Page 79 - Appendix C

Appendix D: Serial Ethernet Settings Appendix D SERIAL ETHERNET SETTINGS The Ethernet-to-Serial device settings are made at the factory and stored i

Page 80 - Appendix D

ActivMedia Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (

Page 81

Appendix D: Serial Ethernet Settings Appendix E SPECIFICATIONS DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE Physical Characteristics Leng

Page 82 - Appendix E

ActivMedia Robotics Sensors DXE DX8/P3DX AT/AT8 Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 R

Page 83 - Sensors

Warranty & Liabilities Your ActivMedia robot is fully warranted against defective parts or assembly for one year after it is shipped to you from

Page 84 - Warranty & Liabilities

19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.mobilerobots.com

Page 85

ActivMedia Robotics Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is

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