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ENCODER
GYRO
calibration commands
PID commands (
General purpose digital and analog IO is done via embedded computer operating system
ArMTXIO
and
Two versions of the Pioneer LX have been produced. The first version is based on the Adept Lynx mobile
robot, and features front and rear sonar sensors in addition to the primary laser rangefinder sensor. The
second version is based on the Omron-Adept LD series mobile robot, and features a secondary laser
rangefinder instead of front sonar, as well as various minor changes. Differences between the Lynx series
and LD series robots are noted in this manual.
Information and documentation for the Omron LD-series and other mobile robot systems for commercial
and industrial use can be obtained from
Body, Drive and Control
The Pioneer LX is medium-sized, lightweight, and highly maneuverable. It has a strong aluminum
chassis and solid construction that makes it very durable. It is insulated against water splashes and dust,
with an IP rating of IP-40.
The Pioneer LX platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters in
front and rear, and independent drive-wheel spring-suspension for balance. Its solid, foam-filled wheels
are at the mid-line of the platform, so that it can turn in place with zero turn radius.
The Pioneer LX has two degrees of freedom, and is controlled from software by requesting translational
velocity (forwards/backwards), and a separate, simultaneous rotational velocity
(clockwise/counterclockwise). The robot's controller will automatically control the robot's drive system to
achieve those requested velocities (using requested acceleration and deceleration parameters).
The Pioneer LX controller uses encoders to automatically integrate wheel odometry, accurately maintain
requested velocity, and, combined with data from an internal gyroscopic sensor, computes an estimated
pose of the robot: a point X, Y (mm) in a cartesian coordinate system, plus an orientation θ (degrees). This
pose estimate is provided to software along with other robot state information every 100ms (10hz).
For more information about robot programming and communication, see See Programming on page 51.
What's Included - Basic Components
One fully-assembled Pioneer LX, including:
laser rangefinder,
front bumper panel
rear-facing short-range sonar sensors
(Lynx-based platform only) front-facing short-range sonar sensors
(LD-based platform only) front-facing lower laser sensor
MTX Core, a module containing robot controller and power management, and a user-
accessible computer (Intel PC) with either Linux or Windows and all software preinstalled
and ready to use.
Removable plastic skins
Page 9 of 134
command and Encoder packets
ROTK
TRANSK
... and
class, not through robot connection or IO packets.
http://www.adept.com
...)
and http://www.ia.omron.com/.
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