Pioneer 2 / PeopleBot manual Introduction, Robot Package, Basic Components all shipments

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Chapter 1 Introduction

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 Performance PeopleBot manuals if you own a newer, Hitachi H8S-based robot.

ActivMedia Robotics

Figure 1. The Pioneer 2-DX and -AT Mobile Robots first appeared commercially in 1995.

Robot Package

Our experienced manufacturing staff put your mobile robot and accessories through a “burn in” period and carefully tested them before shipping the products to you. In addition to the companion resources listed above, we warranty your ActivMedia robot and our manufactured accessories against mechanical, electronic, and labor defects for one year. Third-party accessories are warranted by their manufacturers, typically for 90 days.

Even though we’ve made every effort to make your ActivMedia Robotics package complete, please check the components carefully after you unpack them from the shipping crate.

Basic Components (all shipments)

!One fully assembled mobile robot with battery

!CD-ROM containing licensed copies of ActivMedia software and documentation

!Hex wrenches and assorted replacement screws

!Replacement fuse

!Set of manuals

!Registration and Account Sheet

Optional Components and Attachments (partial list)

!Battery charger (some contain power receptacle and 220VAC adapters)

!Onboard PC computer with PC104+ bus, hard-drive and other accessories

!Radio Ethernet and/or serial modems; one mounted inside the robot

!Companion radio for LAN or basestation connection

!Supplementary and replacement batteries

!3-Battery Charge Station (110/220 VAC)

!Added sonar arrays

!Gripper

!5-DOF Arm with gripper

!ActivMedia Color Tracking System (ACTS)

!Stereo Vision Systems

!Pan-Tilt-Zoom Surveillance Cameras

!Custom Vision System

!Range-finding laser

!Global Positioning System

!Compass

!Bumper rings

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Optional Components and Attachments partial list IntroductionRobot Package Basic Components all shipmentsNewsgroups Additional ResourcesUser-Supplied Components / System Requirements SoftwareSupport@activmedia.com SupportClient Software What Is Pioneer?ActivMedia Robotics Basic Suite Http//robots.activmedia.comSaphira AriaPioneer Pioneer LegacyPioneer 2 and PeopleBot Page Modes of Operation Physical Characteristics Specifications & ControlsMain Components Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Electronics Batteries and PowerMotors and Position Encoders Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial Pioneer 2 Arm-related SIPs and Commands Safety Watchdogs and ConfigurationPeopleBot Sensors and Emergency Stop Http//robots.activmedia.com Preparative AssemblySaphira Client Installation Quick StartExport DISPLAY=remotecomputer0 Saphira Client Start-UpRobot Cold Start-Up SET SAPHIRA=C\Saphira\ver62Successful Connection Starting Client-Server CommunicationsConnected Operating the Saphira Demonstration ClientQuickstart Troubleshooting Quick Start Joystick Connection Joydrive and Self-TestsJoydrive Operation Left forward 13.2 Engaging Self-TestsMotors Test Press again to begin testsCompass Sonar TestBumpers GripperDigin Digout Digin and Digout TestAnalog Tests User PWMsCommunication Packet Protocol Pioneer 2 Operating SystemPacket Data Types Packet ErrorsPacket Checksum Name Data Type Description Server Information Packets Client CommandsBefore Client Connection Ptupos Client Command Argument TypesEstablishing a Client-Server Connection-SYNC Saphira Client Command SupportAutoconfiguration Programming P2OSKeeping the Beat-PULSE Movement CommandsClosing the Connection-CLOSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallExtended Packets CONFIGpac and Config CommandPacket Processing SERAUXpac and Getaux Checksum Integer Computed checksum ENCODERpac and Encoder CommandPLAYLISTpac and Playlist Command GRIPPERpac and GriprequestSfSMessageDigin is %i,sfRobot.digin TCM2pac and TCM2 CommandDIGIN, TIMER, and Adsel Input / Output I/OIOpac and Iorequest Digout and PsuposPerformance PeopleBot IRs Updating P2OS Updating & Reconfiguring P2OSWhere to Get P2OS Software Installing the P2OS UtilitiesRun p2osdl Enable FlashPut Microcontroller into Download Mode Download TroubleshootingRun p2oscf Configuring P2OS Operating ParametersSteps 1-3 Preparing for Configuration Changing Configuration ParametersEditing P2OS Parameters Arm Parameters Saving and RestoringSave C\p2os\myP2DX Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Drive Lubrication Maintenance & RepairBatteries Getting Inside Alternative Battery ChargersRemoving the Nose Remove indicated screws to remove Original Pioneer 2-AT Deck Opening the DeckSupport@activmedia.com 603 924-2184 fax 603 924-9100 voice Factory RepairsC166 Controller Ports & Connections Appendix aUser I/O Expansion Port Internal Serial ConnectorsPin Label Use Performance PeopleBot I/OGeneral I/O Bus Onboard Computer Option User Power ConnectionsPower Switch J7 and Delayed Shutdown Logic Appendix BComputer Power Power-State LogicAppendix C Joystick ConnectorAppendix D SpecificationsControls and Ports Controls IndexSpecifications 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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