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Pioneer 2 / PeopleBot Operation Manual

Pioneer 2 / PeopleBot Manual Online:

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Pioneer 2 / PeopleBot User Manual
Pioneer 2 / PeopleBot User Guide
Pioneer 2 / PeopleBot Online Manual

Text of Pioneer 2 / PeopleBot User Guide:

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Maintenance & Repair Chapter 8 Your ActivMedia robot is built to last a lifetime and requires little maintenance. Drive Lubrication The drive motors and gearbox are sealed and self-lubricating, so you need not fuss with grease or oil. An occasional drop or two of oil on the axle bushings between the wheels and the case won’t hurt. And keep the axles clear of carpet or other strings that may wrap around and bind up your robot’s drive. Batteries Lead-acid batteries like those in your ActivMedia robot last longest when kept fully charged. In fact, s

  • What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 2-DX, -DXe, -CE, and -AT, and the PeopleBot (V1 and Performance) Mobile Robots. All are intelligent mobile robots, whose client-server architecture was originally developed by Kurt Konolige, Ph.D., of SRI International, Inc. and Stanford Un

  • Pioneer 2 / PeopleBot, Warranty & Liabilities Your ActivMedia robot is fully warrantied against defective parts or assembly for one year after it is shippedto you from the factory. Accessories are warrantied for 90 days. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects. The developers, marketers, and manufacturers of ActivMedia Robotics products shall bear no liabilities for operation and use of the robot or any

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Appendix C Joystick Connector Use a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the User I/O port on the P2OS microcontroller. Both require P2OS version 1.c or later. Figure 30. Standard joyport for manual drive of a Pioneer 2 or PeopleBot Mobile Robot Figure 31. Joyport with signal switch for sharing User I/O ports with other accessories, such as the older st y le Gri pp er. 65

  • Pioneer 2 / PeopleBot, Quick Start RESET button, you must restart the connection. Turning the Main Power switch off and then back ON or pressing the RESET button puts the robot servers back to their wait state, ready to accept client connections again. If the Saphira client application is still active, simply pull down the Connect menu and choose the Disconnect option. Otherwise, restart the application and reconnect the Saphira client with the P2OS servers. The Saphira-P2OS connection is SERIAL only. You may not co

  • ActivMedia Robotics All models come with an access port near the center of the Deck through which to run cables to the internal components. Sonar Arrays with Gain Adjustment Natively, ActivMedia robots support both front and rear sonar arrays, each with eight transducers that provide object detection and range information for features recognition, as well

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Appendix A C166 Controller Ports & Connections This Appendix contains pinout and electrical specifications for the external and internal ports and connectors on the Pioneer 2/PeopleBot microcontroller board. These include an external (Host) serial port for P2OS-to-client connections; two internal serial ports for Host and auxiliary (AUX) communications, each with switched five and 12 VDC power; an expansion bus (General I/O); and a discrete connector for custom User I/O. Note that all the int

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Introduction Figure 1. The Pioneer 2-DX and -AT Mobile Robots first appeared commercially in 1995. Chapter 1 Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of ActivMedia Robotics’ intelligent mobile robots. This Pioneer 2 Operations Manual provides both the general and technical details you need to operate your Pioneer 2-DX, -CE, -DXe, -AT, or PeopleBot Mobile Robot and to begin developing your own Robotics hardware and software. Please consult the Pioneer 2 H8 or the Perfo

  • ActivMedia Robotics Deck(s) and Console The original Pioneer 2-DX, -CE, and -AT Decks are one piecethe top plate of the robot. The new DXe and AT models now have hinged top-plates which let you much more easily access the internal components of the robot. The robot’s Deck is simply the flat surface for mounting projects and accessories, such as the PTZ

  • Pioneer 2 / PeopleBot, to use your robot, but it will not appear on your own menu since it copies functionalities of Navigator, which you may not distribute. ! M APPER provides the tools you need to construct a map of your robot’s real operating space (“world”). Navigator and WorldPass use this map floor plan to plan a path from one point to another within a space. ! T RAINER is a programming editor and robot interface in which you create and perfect your own intelligent mobile robot-control programs with the simple, yet powerful Colbert programming language.

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Step 6: Save Your Work Use the save command to save your configuration changes to FLASH or to a disk file. We strongly recommend that you save each of your robots’ parameter values to disk for later retrieval should your microcontroller get damaged or it’s FLASH inadvertently erased. Default parameter files come with each P2OS distribution, but it is tedious to reconstruct an individual robot’s unique configuration. Editing P2OS Parameters To view the list of current P2OS constants or variables, type ‘a’, 'c' or 'v', respectively

  • Pioneer 2 / PeopleBot, Sporting a more holonomic body, larger wheels and stronger motors for better indoor performance, the Pioneer 2-DX and CE models, like Pioneer 1, were two-wheel, differential-drive mobile robots. The four-wheel drive Pioneer 2-AT has independent motor drivers, as well as a stall-detection system. And unlike its predecessor, the Pioneer 2-AT comes with inflatable pneumatic tires and metal wheels for much more robust operation in rough terrain, as well as the ability to carry nearly 30 kilograms (66 lbs) of payload and climb a 60-percent grade! The newest version of the 2-AT, introduced in mid-2001, includes an integrated joystick port for manual

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Pioneer 2 Operating System Chapter 6 Figure 19. ActivMedia Robotics client- server control architecture All ActivMedia robots use a client-server mobile robot-control architecture developed by Dr. Kurt Konolige and others at SRI International. In the model, the robot’s controller servers—the Pioneer 2 Operating System (P2OS)—work to manage all the low-level details of the mobile robot’s systems. These include operating the motors, firing the sonar, collecting sonar and wheel encoder data, and so onall on command from and reporting to a separate client application, such as ARIA or Saphira. With this

  • Pioneer 2 / PeopleBot, Pioneer 2 Operating System sfSMessage("Port# % reads %i",sfRobot.timer, sfRobot.analog); Port# 5 reads 33 sfRobotComInt(35,2); sfSMessage("Port# % reads %i",sfRobot.timer, sfRobot.analog); Port# 2 reads 224 DIGOUT and PSUPOS The eight digital output ports on the P2OS controller’s User I/O connector are both reported in the standard SIP (digout) and controllable with the P2OS commands DIGOUT and PTUPOS. Electrically, the ports are digital high (1) at ~5 VDC (V cc ) and low (0) at ~0 VDC (GND). For example, to read the state of the digital output ports with Saphira: sfSMessage("Digout is %i",sfRobot.digout

  • Specifications and Controls will automatically shut down the onboard PC. Discharging the batteries below 10 VDC may permanently damage them. You may continue to operate the robot while charging its batteries, although that will lengthen the recharge time. Because the onboard PC draws much current, even the high-speed 4A charger will not be able to fully recharge the batt

  • Pioneer 2 / PeopleBot, ActivMedia Robotics ! 4 Pulse-width-modulation ports (PWM1-4) ! 1 signal ground (Gnd) ! 1 Vcc (+5 VDC) ! 1 Vpp (+12 VDC) Note that the general-purpose I/O and analog-to-digital ports are shared with the General I/O connector (below) and joystick circuitry and may not be available for use on all robots. For example, the analog lines P5_4-7, are used by the Joystick port, which now comes standard with the Pioneer 2-AT and Performance PeopleBot. In addition, four of the A/D ports and the PWM ports are shared with digital input and output lines, respectively. Table 20. User I/O Expansion Port Pin # Label Use Pin # Label Use 1 P2_12 OD0 or PWM #1 2 P3_0 ID

  • Pioneer 2 / PeopleBot, Pioneer 2 Operating System housekeeping functions, start its sonar and motor controllers (among other things), listen for client commands, and begin transmitting server information to the client. Note that once connected, Pioneer 2's and PeopleBot’s motors are disabled, regardless of their state when last connected. After starting a connection, you must either enable the motors manually (white MOTORS button) or send the P2OS motors ENABLE command with the argument 1; sfRobotComInt(4,1), for example

  • Pioneer 2 / PeopleBot, ActivMedia Robotics Table 10. GRIPPERpac state byte bit Function State 0 Grip limit paddles fully open when 0; otherwise between or closed 1 Lift limit Lift fully up or down when 0; otherwise in between 2 Outer breakbeam obstructed when 0; nothing in between when 1 3 Inner breakbeam obstructed when 0; nothing in between when 1 4 Left paddle grasping when 0 5 Right paddle grasping when 0 6 Lift moving when 1 7 Gripper moving when 1 The AmigoBot Sounds playlist consists of a series of one to 255 24-byte long sound references, followed by individual sound data. Sound references may be NULL or redundant. Sound ref

  • Pioneer 2 / PeopleBot, ActivMedia Robotics provides very reliable links; radio modem-mediated communication is much less reliable. Accordingly, when designing client applications that may use radio modems, do not expect to receive every information packet intact, nor can you expect the server to accept every command. Table 4. Standard P2OS Server Information Packet (SIP) Name Data Type Description Header integer Exactly 0xFA, 0xFB Byte Count byte Number of data bytes + 2 (checksum); must be less than 201 (0xC9) Status/Packet byte = 0x3S; where S = Motors status Type

  • Pioneer 2 / PeopleBot, Specifications and Controls Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum Body houses the batteries, drive motors, electronics, and other common components, including the front and rear sonar arrays. The Body also has sufficient room, with power and signal connectors, to support a variety of robotics accessories inside, including an A/V wireless surveillance system, radio modems or radio Ethernet, onboard computer, and more. On all models except the DE, a hinged rear door gives you easy access to the batteries, which you may quickly hot-swap to refresh any of up to three batter

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