ActivMedia Robotics Pioneer 2 Arm Manual de usuario

Pioneer2Arm

Under international copyright laws, this manual or any portion of it may not be copied or

in any way duplicated without the expressed written consent of ActivMedia Robotics.

The software on disk and on the microcontroller ROM, which accompany the Pioneer 2

Arm and are available for network download by ActivMedia Robotics customers, are

solely owned and copyrighted or are licensed products distributed by ActivMedia

Robotics.

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 commercial application of the ActivMedia Robotics

or licensed software and hardware without the expressed written consent of ActivMedia

Robotics is explicitly forbidden.

The various names and logos for products used in this manual are often registered

trademarks or trademarks of their respective companies. Mention of any third-party

hardware or software constitutes neither an endorsement nor a recommendation.

ActivMedia Robotics Pioneer 2 Arm Manual v1, October 2001

ActivMedia Robotics

iii

Important Safety Instructions

! Read the installation and operations instructions before using the equipment.

! Avoid using power extension cords.

! To prevent fire or shock hazard, do not expose the equipment to rain or moisture.

! Refrain from opening the unit or any of its accessories.

! Keep equipment away from hair or fur.

Inappropriate Operation

Inappropriate operation voids your warranty! Inappropriate operation includes, but is

not limited to:

! Dropping the equipment

! Overloading the Arm above its payload capacity

! Getting the equipment wet

! Continuing to run the equipment after hair, yarn, string, or any other items have

become wound in one or more of its joints

! All other forms of inappropriate operation or care

Table of Contents

CHAPTER 1 INTRODUCTION.................................................................................................................1

THE PIONEER 2 PLATFORM..........................................................................................................................1

THE PIONEER 2 ARM....................................................................................................................................1

CONTROL HARDWARE AND SOFTWARE .......................................................................................................2

ARM PACKAGE ............................................................................................................................................2

Basic Components (all shipments)..........................................................................................................2

User-Supplied Components / System Requirements................................................................................3

ADDITIONAL RESOURCES ............................................................................................................................3

Software ..................................................................................................................................................3

Newsgroups.............................................................................................................................................4

Support....................................................................................................................................................4

CHAPTER 2 INSTALLATION & OPERATION.....................................................................................5

MOUNTING THE ARM TO YOUR PIONEER 2 ROBOT......................................................................................5

POWER TO THE ARM ....................................................................................................................................6

Arm Safety at Home ................................................................................................................................6

SOFTWARE...................................................................................................................................................7

Generic versus P2OS Server Programming............................................................................................7

DEMONSTRATION AND DEVELOPMENT SOFTWARE......................................................................................7

P2ArmDemo............................................................................................................................................7

SAFETY WATCHDOGS ..................................................................................................................................8

Power and Connection-Related Automatic Shutdown ............................................................................8

Timed Shutdown......................................................................................................................................8

Gripper Release Timer............................................................................................................................9

Warm Reset.............................................................................................................................................9

CHAPTER 3 PROGRAMMING...............................................................................................................10

GENERIC CONTROLS..................................................................................................................................10

Generic Control Mode Commands .......................................................................................................10

Generic Servo Positioning Mode Commands .......................................................................................11

P2OS HOST to AUX Serial Port Communications...............................................................................11

P2OS ARM SERVERS.................................................................................................................................11

P2OS ARM COMMANDS ............................................................................................................................12

ARM_INFO and ARMINFOpac............................................................................................................13

ARM_STAT and ARMpac......................................................................................................................13

ARM_POWER.......................................................................................................................................14

ARM_SPEED and ARM_POS...............................................................................................................14

ARM_SPEED Limits.............................................................................................................................14

ARM_HOME and ARM_PARK............................................................................................................15

ARM_INIT, ARM_CHECK, and Warm Reset Protocol ........................................................................15

SAPHIRA PLUGIN .......................................................................................................................................16

CHAPTER 4 ARM FLASH PARAMETERS ..........................................................................................18

ARM PARAMETERS ....................................................................................................................................18

WHERE TO GET P2OS SOFTWARE .............................................................................................................18

ActivMedia Robotics

INSTALLING THE P2OS UTILITIES .............................................................................................................18

CONFIGURING P2OS OPERATING PARAMETERS........................................................................................ 19

Step 1. Serial Connection from Computer to Robot..............................................................................19

Step 2: Enable FLASH..........................................................................................................................19

Step 3: Put Microcontroller into Download Mode...............................................................................19

Step 4: Run p2oscf................................................................................................................................19

Step 5: Changing Configuration Parameters .......................................................................................20

Step 6: Save Your Work........................................................................................................................ 20

EDITING P2OS ARM PARAMETERS............................................................................................................ 21

CHAPTER 5 MAINTENANCE & REPAIR............................................................................................23

FACTORY REPAIRS ....................................................................................................................................23

APPENDIX A.............................................................................................................................................. 24

SPECIFICATIONS ...............................................................................................................................24

INDEX.........................................................................................................................................................25

WARRANTY & LIABILITIES ................................................................................................................ 26

ActivMedia Robotics

Chapter 1 Introduction

IntroductionIntroduction

Introduction

Congratulations on your purchase of ActivMedia Robotics’ multi-jointed Arm for the

Pioneer 2 family of mobile robots.

This manual provides both the general and technical details you need to operate your

Pioneer 2 Arm and to begin developing your own control software integrated with other

mobile robot activities.

The Pioneer 2 Platform

Pioneers are small, intelligent mobile

robots originally designed by Kurt

Konolige, PhD, of SRI International, Inc.,

and available exclusively through

ActivMedia Robotics, LLC. The basic

Pioneer 2 platform contains all of the

components of an intelligent mobile

robot for sensing and navigation in a

real-world environment, including battery

power, drive motors and wheels, position

encoders, and range-finding ultrasonic

sonar transducers—all managed via an

onboard Siemens C166-based micro-

controller board.

The Pioneer 2-DX, DXE, PeopleBot, and CE models are two-wheel, differential-drive

mobile robots intended for indoor, albeit less-than-ideal surface operation (wheel-chair

accessible areas, for example). The Pioneer 2-AT is a four-wheel drive, differential skid-

steering version intended for outdoor, all-terrain (AT) operation. Otherwise, the platforms

are nearly identical and share accessories, including the Pioneer 2 Arm.

All Pioneers come with onboard robotics server software (Pioneer 2 Operating System)

and an open API for client software control of the robot’s systems and accessories. Users

access the onboard servers through an RS-232 serial communication port from their client

workstation connected wirelessly, or via a piggyback laptop or integrated onboard PC.

The Pioneer 2 Arm

The Pioneer 2 Arm is an accessory for Pioneer 2-DX/DXE and AT robots. It is relatively low-

cost for use in research and in the classroom. Driven by six open-loop servo motors, the

five degrees-of-freedom (5-DOF) Pioneer 2 Arm’s end-effector is a gripper whose foam-

lined fingers allow for firm grasp and manipulation of objects as large as a soda can and

as heavy as 150 grams throughout the arm’s envelope of operation.

Joints include:

! rotating base

! pivoting shoulder

! pivoting elbow

! rotating wrist

! pivoting gripper mount

! gripper fingers

All servo-driven joints, except for the gripper fingers, pivot or rotate at least 180 degrees.

Mounted to the front of the robot’s top plate, the Pioneer 2 Arm has a very wide

envelope of operation, reaching 50 centimeters from the center of its rotating base to

Figure 1. The Pioneer 2 Arm

Introduction

the tip of its closed fingers. The Pioneer 2 Arm’s reach, therefore, lets you pick up objects

from the floor in front of your Pioneer 2 robot and place them on its back.

Control Hardware and Software

The Pioneer 2 Arm comes with its manufacturer’s PIC-based controller and servo-driver

hardware and software. These are housed inside the DX/DXE on top of the battery box

or inside a special “backpack” accessory that is mounted at the rear of the Pioneer 2-AT

robot’s top-plate. The backpack also holds two 12 volts, direct-current (VDC) batteries

for additional power to the Arm and the AT’s systems.

The Pioneer 2 Arm’s controller is attached to the Pioneer 2 microcontroller’s AUX serial

port and supported by generic (“pass-through”), as well as custom Pioneer 2 Operating

System (P2OS) servers. Your client software communicates with and controls the Arm

through these P2OS servers.

Arm Package

Your Pioneer 2 Arm is factory installed. Our experienced manufacturing staff put your

Pioneer 2 Arm and its support accessories through a “burn in” period and carefully tested

them before shipping the products to you. We detach the Arm itself from the robot and

ship them separately for safety.

Even though we’ve made every effort to make your Arm package complete, please

check the components carefully after you unpack them from the shipping crate.

Basic Components (all shipments)

! This manual

! One fully assembled Pioneer 2 5-DOF Arm

! Arm control electronics, signal and power cabling installed in your robot

! Arm power “backpack” installed on the Pioneer 2-AT

! Mounting hardware and cabling

! CD-ROM containing P2OS updated for Arm support, Arm demonstration and

development software, and documentation

Figure 2. The Pioneer 2 Arm’s horizontal reach

ActivMedia Robotics

User-Supplied Components / System Requirements

! Tools for attaching the arm to the robot1

! Client-side PC and robot software, such as ARIA or Saphira

Additional Resources

New ActivMedia Robotics Pioneer 2 and PeopleBot customers get three additional and

valuable resources:

! A private account on our Internet server for software, updates, and manuals

! Access to private robotics newsgroups

! Direct access to the ActivMedia Robotics technical support team

Software

We maintain a 24-hour, seven-day per week Web server where customers may obtain

software and support materials:

http://robots.activmedia.com

Some areas of the website are restricted to licensed customers. To gain access, enter

the username and password written on the Registration & Account Sheet that

accompanied your ActivMedia robot.

1The required tools, particularly the hex wrenches, come with the robot.

Figure 3. Pioneer 2 Arm's vertical reach

Introduction

Newsgroups

We maintain several email-based newsgroups through which ActivMedia robot owners

share ideas, software, and questions about the robot and accessories, such as your new

Arm. Visit the support http://robots.activmedia.com website for more details.

To sign up for pioneer-users, for example, send an e-mail message to the –requests

automated newsgroup server:

To: pioneer-users-reques[email protected]

From: <your return e-mail address goes here>

Subject: <choose one command:>

help (returns instructions)

lists (returns list of newsgroups)

unsubscribe

Our SmartList-based listserver will respond automatically.

After you subscribe, send your email comments, suggestions, and questions intended for

the worldwide community of Pioneer users to the users group, NOT to the –requests

address. For example:2

To: pioneer-users@activmedia.com

From: <your return e-mail address goes here>

Subject: <something of interest to pioneer users>

Access to the pioneer-users newslist is limited to subscribers, so your address is safe

from spam. However, the list currently is unmoderated, so please confine your

comments and inquiries to issues concerning the operation and programming of Pioneer

or PeopleBot robots.

Support

Have a problem? Can’t find the answer in this or any of the accompanying manuals?

Or do you know a way that we might improve our robots and accessories? Share your

thoughts and questions directly with us:

[email protected]

Please include your robot's serial number (look for it beside the Main Power switch)we

often need to understand your robot's configuration to best answer your question. Your

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. Because this is a

support option, not a general-interest newsgroup like pioneer-users, we reserve the

option to reply only to questions about problems with your robot or software.

2Notice that the –requests part of the email address is left out when sending messages to the newsgroup?

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