Pioneer 2 / PeopleBot manual Electronics, Motors and Position Encoders, Batteries and Power

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Specifications and Controls

Motors and Position Encoders

Pioneer 2 and PeopleBot drive systems use high-speed, high-torque, reversible-DC motors, each equipped with a high-resolution optical quadrature shaft encoder for precise position and speed sensing and advanced dead-reckoning. Motor gearhead ratios and encoder ticks per revolution vary by robot model. See Appendix D for details.

Batteries and Power

Except the 2-CE, Pioneer 2 and PeopleBot robots may contain up to three, hot- swappable, seven ampere-hour, 12 volts direct-current (VDC) sealed lead/acid batteries (total of 252 watt-hours), accessible though a hinged and latched back door. We provide a suction cup tool to help grab and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually attaching and detaching power cables or connectors.

Balance the batteries in your robot.

Battery life, of course, depends on the configuration of accessories and motor activity. Pioneer 2-AT and PeopleBot charge life typically ranges from two to three hours. The Pioneer 2-DX and -DXe run continuously for six hours or more; up to four hours with onboard computer. If you don’t use the motors, your robot’s microcontroller will run for several days on a single battery charge.

IMPORTANT: Batteries have a significant impact on the balance and operation of your robot. Under most conditions, we recommend operating with three batteries. Otherwise, a single battery should be mounted in the center, or two batteries inserted on each side of the battery container.

Typical recharge time using the recommended accessory (800 mA) charger varies according to the discharge state; it is roughly equal to three hours per volt per battery. The Power Cube accessory allows simultaneous recharge of three swappable batteries outside the robot.

With the optional high-speed (4A maximum current) charger, recharge time is greatly reduced. It also supplies sufficient current to continuously operate the robot and onboard accessories, such as the onboard PC and radios. But with the higher-current charger, care must be taken to charge at least two batteries at once. A single battery may overcharge and thereby damage both itself and the robot.

Both recommended chargers are specifically designed for optimal and safe lead-acid battery recharging. Indicators on the module’s face show fast-charge mode (typically an orange LED) in which the discharged batteries are given the maximal current, and trickle mode (green LED indicator) which the batteries are given only enough current to remain at full charge.

Electronics

Pioneer 2 and PeopleBot standard electronics reside on two main boards: a microcontroller and a motor-power distribution board. Each sonar array also has a controller board mounted in its base. A special I/O expansion board found inside the left column strut of the Performance PeopleBot distributes User I/O for use by the robot’s joystick port as well as it’s tabletop and breakbeam IR sensors.

A Main Power switch at the back of the robot controls power for the entire system. Processor control switches and indicators fit through the Console.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSoftware NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Client SoftwareHttp//robots.activmedia.com ActivMedia Robotics Basic SuiteAria SaphiraPioneer 2 and PeopleBot Pioneer LegacyPioneer Page Modes of Operation Main Components Specifications & ControlsPhysical Characteristics Decks and Console Pioneer 2-AT Console and hinged DeckBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and PowerElectronics Controls, Ports, and Indicators Liquid-Crystal Display & Contrast Adjustment Reset and MotorsSerial PeopleBot Sensors and Emergency Stop Safety Watchdogs and ConfigurationPioneer 2 Arm-related SIPs and Commands Preparative Assembly Saphira Client InstallationQuick Start Http//robots.activmedia.comSaphira Client Start-Up Robot Cold Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joydrive Operation Joydrive and Self-TestsJoystick Connection Engaging Self-Tests Motors TestPress again to begin tests Left forward 13.2Sonar Test BumpersGripper CompassDigin and Digout Test Analog TestsUser PWMs Digin DigoutPioneer 2 Operating System Communication Packet ProtocolPacket Checksum Packet ErrorsPacket Data Types Name Data Type Description Client Commands Server Information PacketsBefore Client Connection Client Command Argument Types PtuposSaphira Client Command Support AutoconfigurationProgramming P2OS Establishing a Client-Server Connection-SYNCClosing the Connection-CLOSE Movement CommandsKeeping the Beat-PULSE Pioneer in Motion PID ControlsSonar Position IntegrationEstop and Estall SfRobotComInt44,1Packet Processing CONFIGpac and Config CommandExtended Packets SERAUXpac and Getaux ENCODERpac and Encoder Command PLAYLISTpac and Playlist CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumTCM2pac and TCM2 Command DIGIN, TIMER, and AdselInput / Output I/O SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Updating & Reconfiguring P2OS Where to Get P2OS SoftwareInstalling the P2OS Utilities Updating P2OSEnable Flash Put Microcontroller into Download ModeDownload Troubleshooting Run p2osdlConfiguring P2OS Operating Parameters Steps 1-3 Preparing for ConfigurationChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Save C\p2os\myP2DX Saving and RestoringArm Parameters Keyword PID Parameters Encoder and RevcountCalibration Tools revcountcal and compasscal Parameter DXe Performance PBCompasscal /dev/ttyS3 Batteries Maintenance & RepairDrive Lubrication Removing the Nose Alternative Battery ChargersGetting Inside Opening the Deck Remove indicated screws to remove Original Pioneer 2-AT DeckFactory Repairs Support@activmedia.com 603 924-2184 fax 603 924-9100 voiceAppendix a C166 Controller Ports & ConnectionsInternal Serial Connectors User I/O Expansion PortPerformance PeopleBot I/O Pin Label UseGeneral I/O Bus User Power Connections Power Switch J7 and Delayed Shutdown LogicAppendix B Onboard Computer OptionPower-State Logic Computer PowerJoystick Connector Appendix CSpecifications Appendix DControls and Ports Index ControlsSpecifications Warranty & Liabilities Page Concord Street Peterborough, NH 603

2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.
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