Pioneer 2TM, 3TM manual Specifications & Controls, Physical Characteristics

Page 17

ActivMedia Robotics

Chapter 3 Specifications & Controls

ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 3-DX with onboard PC is a fully autonomous intelligent mobile robot. Unlike other commercially available robots, Pioneer’s modest size lends itself very well to navigation in tight quarters and cluttered spaces, such as classrooms, laboratories, and small offices.

At the same time, the powerful AROS server with ActivMedia Robotics client software is fully capable of mapping its environment, finding its way home, and performing other sophisticated path-planning tasks.

Figure 8. Pioneer 3-DX’s physical dimensions and swing radius

PHYSICAL CHARACTERISTICS

Weighing only 9 kg (20 pounds

 

with one battery), the basic

 

Pioneer 3- and 2-DX8/DX8 Plus

 

mobile robots are lightweight,

 

but their strong aluminum body

 

and

solid

construction

make

 

them virtually indestructible.

 

These characteristics also permit

 

them

to

carry

extraordinary

 

payloads: The new Pioneer 3-

 

DX can carry up to 23 Kg (50

 

lbs.) additional weight; the 3-AT

 

can carry over 35 Kg (70 lbs.)

 

more! Yet, Pioneer 2s and 3s

 

are lightweight enough that it is

 

also as easy to transport as a

 

suitcasea task

made

even

Figure 9. Pioneer 3-AT’s console and hinged deck

easier

by

the

DX's

built-in

 

handle.

11

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSupport Website NewsgroupsSupport@activmedia.com SupportPioneer Reference Platform What Is Pioneer?Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER BoardHttp//robots.activmedia.com Client SoftwarePioneer Legacy Supporting SoftwarePioneer 2 and PeopleBot Pioneer 1 and ATActivMedia Robotics Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test ModesPhysical Characteristics Specifications & ControlsMotor Stop Button Main ComponentsP3-DX User Control Panel User Control PanelSonar Arrays with Gain Adjustment Body, Nose, and Accessory PanelsMotors, Wheels, and Position Encoders Batteries and PowerRecharging Battery Indicators and Low Voltage ConditionsDOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-TestIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionProper Connections DisconnectingQuickstart Troubleshooting SRIsim OFFJoydrive and Self-Tests Joydrive ModeEngaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating SystemPacket Checksum Packet ErrorsMultiply by DistConvFactor‡ Server Information PacketsBefore Client Connection Client CommandsP2OS CLIENT-SERVER Connection Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSERotation Motion CommandsPlatform Dependent and Independent Variables ActivMedia Robots in MotionInternal coordinate system PID ControlsPosition Integration Enable/Disabling SonarSonar Polling Sequence and Rate11-15 Reserved Stalls and EmergenciesPacket Processing Accessory Commands and PacketsChanging Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets TCM2 SoundsHeading Correction Gyro Onboard PCUser I/O Input Output I/OIO packets Bumper and IR I/ODOCKING/CHARGING System I/O Expansion I/ODigital Port Controls Docking/Charging ServersCharge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge CycleActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros UpdatesStarting Aroscf Updating and Reconfiguring ArosChanging Parameters Configuring Aros Operating ParametersInteractive Commands PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication BatteriesTightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Removing the Nose Getting InsideFactory Repairs Opening the DeckAppendix a Power ConnectorH8S Ports & Connections H8S MicrocontrollerUser I/O, Gripper, Docking/Charging Port Serial PortsExpansion I/O Bus OD7User Control Interface Bumper PortsMotors, Encoders, and IR Sensors Joystick Port Appendix B Pioneer 3 and 2-PLUS MOTOR-POWER BoardConfiguration for Current and Temperature Sensing Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsAppendix D Serial Ethernet SettingsConsole mode Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603