Pioneer 2 / PeopleBot manual Getting Inside, Alternative Battery Chargers, Removing the Nose

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Maintenance and Repair

Alternative Battery Chargers

The center post of the charger socket is the positive (+) side of the battery; the case is the negative (-) side. A diode protects against the wrong charger polarity. Nonetheless, if you choose to use an alternative battery charge, be sure to connect positive to positive and negative to negative from charger to robot.

An alternative AC to DC converter/battery charger should sustain at least 0.75A at 13.75 to 14 VDC per battery, and not more than 2-2.5 amperes per battery. The High-Speed Charger accessory, for example, is a four ampere charger and should be used with at least two of the standard batteries.

An alternative charger also should be voltage- and current-limited so that it cannot overcharge the batteries.

Getting Inside

We normally discourage you from opening up your robot. However, on occasion, you may need to get inside, for instance to access the User Power connections on the Motor- Power board and attach your custom electronics. Or you may need to get to your onboard computer and its accessories.

Open the robot AT YOUR OWN RISK, unless explicitly authorized by the factory.

We describe here how to remove your robot’s Nose to get at the onboard computer. And we describe how to access the contents of the Body of your Pioneer 2-DX/DXe or - AT robot.

Removing the Nose

Pioneer 2’s and PeopleBot’s onboard computer sits just behind the robot’s Nose. And you may have to remove the Nose to access the front sonar array’s gain adjustment pot.

For early DX, CE, and AT models, and for the PeopleBot robots, the Nose is attached to the robot with two screws: one directly underneath the front sonar bay and one on the bottom of the robot just behind the seam between the robot’s Body and the Nose. The new AT and the DXe model have two screws holding the Nose to the front sonar (or blank) array, and the DXe doesn’t have the bottom screw since the Nose is hinged at the bottom.

Remove all Nose retaining screws with the hex wrench supplied with your robot. Except with the new AT or DXe, if you have either the Gripper or a front Bump Ring accessories, remove it first.

BE CAREFUL: Delicate wiring inside.

Once loosened, the DXd Nose pivots down on a hinge. For the other models, four pins along the Nose’s back edges guide it onto the front Body of the robot. Simply pry the Nose out and away from the Body. Careful: The computer’s hard-drive, fan, and speaker have attached wire harnesses that you need to relieve before completely detaching the Nose from the Body. We recommend unplugging the speaker wire and simply rotating the Nose out of the way to access the onboard computer.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSoftware Additional ResourcesUser-Supplied Components / System Requirements 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 Quick Start Preparative AssemblySaphira Client Installation Http//robots.activmedia.comSET SAPHIRA=C\Saphira\ver62 Saphira Client Start-UpRobot Cold Start-Up Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joydrive Operation Joydrive and Self-TestsJoystick Connection Press again to begin tests Engaging Self-TestsMotors Test Left forward 13.2Gripper Sonar TestBumpers CompassUser PWMs Digin and Digout TestAnalog Tests 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 PtuposProgramming P2OS Saphira Client Command SupportAutoconfiguration 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 GRIPPERpac and Griprequest ENCODERpac and Encoder CommandPLAYLISTpac and Playlist Command Checksum Integer Computed checksumInput / Output I/O TCM2pac and TCM2 CommandDIGIN, TIMER, and Adsel SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Installing the P2OS Utilities Updating & Reconfiguring P2OSWhere to Get P2OS Software Updating P2OSDownload Troubleshooting Enable FlashPut Microcontroller into Download Mode Run p2osdlChanging Configuration Parameters Configuring P2OS Operating ParametersSteps 1-3 Preparing for Configuration 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 Appendix B User Power ConnectionsPower Switch J7 and Delayed Shutdown Logic 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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