Segway RMP User Manual
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Segway RMP User Manual

Robotic mobility platform
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Segway
Robotic Mobility Platform
User Guide
Segway Inc.
14 Technology Drive
Bedford, NH 03110
Segway is a registered trademark of Segway Inc.

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  • Page 1 ® ® Segway Robotic Mobility Platform User Guide Segway Inc. 14 Technology Drive Bedford, NH 03110 Segway is a registered trademark of Segway Inc.

  • Page 2: Table Of Contents

    General Battery Information ....................41 Service Operations ........................43 Contact and legal information ....................45 Report All Incidents ........................ 45 How to Reach Us........................45 California Warning ........................45 Segway Inc Patent and Licensing Information ............... 45 Glossary............................ 46 20277-00001 aa...

  • Page 3: How To Use This Guide

    This guide is provided with Segway Robotic Mobility Platforms (RMP) to aid users in understanding and integrating the Segway RMP into their application. • Read this entire guide before turning on the RMP. Users of the RMP100 and RMP200 should pay particular attention to “Theory of Operation: Balancing Dynamics”.
  • Page 4 Segway RMP – User Guide WARNING Risk of Death or Serious Injury The Segway RMP is a powerful machine – its motors can produce over 2 hp under certain transient conditions. Read and fully understand the material in this guide before attempting to use the RMP.
  • Page 5 Version 2.0 Segway RMP – User Guide Do not lift the RMP by the wheels – your hands may get pinched if the frame rotates Avoid slippery surfaces, loose materials, or any other surface that does not provide good traction.

  • Page 6: Introduction

    Use of the Segway RMP involves risk. If an RMP tire loses traction or runs into an obstacle, the Segway RMP can fall over. If the RMP experiences an internal malfunction, the RMP may fall over.

  • Page 7: Segway Robotic Mobility Platform Models

    Segway RMP – User Guide Segway Robotic Mobility Platform Models This guide is intended to help you setup and properly use the Segway RMP. There are five RMP models, three balancing models (RMP100, RMP200 and RMP200ATV) and two non-balancing models (RMP50 and RMP400).

  • Page 8: Statically Stable Rmp Models

    RMP 50 RMP 400: based on the Segway XT. RMP 50: based on the p series Segway HT. The RMP400 and RMP50 have only one operating mode: “Tractor Mode” Tractor Mode provides statically stable operation, with a larger footprint and lower payload height.

  • Page 9: Operator Supplied Equipment

    Segway RMP – User Guide Operator Supplied Equipment The velocity and turn rate of the RMP are controlled via USB or Controller Area Network (CAN) bus commands. These may be generated using a dedicated microcontroller, a PC system or other computer based system to initiate commands. The user must provide a computer system and write an application to communicate with the RMP.

  • Page 10: Rmp Specifications

    Version 2.0 Segway RMP – User Guide RMP Specifications Command Interface All Models Communications Link USB external, CAN available via internal connector Control Industrial pushbutton interface for power and mode select Data Update Rate 100 Hz RMP firmware Programmed at assembly...
  • Page 11 Version 2.0 Segway RMP – User Guide RMP200 RMP200 ATV RMP100 RMP50 RMP400 Dimensions Overall width 25 in (63 cm) 31 in (79 cm) 21.8 in (56 cm) 21.8 in (56 cm) 31 in (79 cm) Overall height 29.5 in (75 cm) 30.5 in (78 cm)

  • Page 12: Assembly

    RMP100 and RMP200 The RMP Top Plate weighs approximately 30 lbs (13.6 kg) and the RMP Ballast Plate weighs 25 lbs (11.3 kg). Use an assistant if necessary to maneuver these plates to avoid dropping them or pinching fingers. Exploded drawings of the various RMP frames are contained at the end of this section.
  • Page 13 Version 2.0 Segway RMP – User Guide Item Qty. Part Number Description Comments 17941-00001 RMP Top Plate 17507-00001 RMP Ballast Plate 17506-00001 RMP Vertical Plate 17512-00001 M6x1x25 SHCS Tighten to 18 N-m (13.ft-lb) 17510-00001 3/8-16x1.25 SHCS Tighten to 54 N-m (40 ft-lb)

  • Page 14: Rmp50

    Version 2.0 Segway RMP – User Guide RMP50 The RMP50 is shipped fully assembled and ready for use. An exploded view of the RMP50 frame is supplied should disassembly be required. 20277-00001 aa...

  • Page 15: Rmp400

    Version 2.0 Segway RMP – User Guide RMP400 The RMP400 is shipped fully assembled and ready for use. An exploded view of the RMP400 frame is supplied should disassembly be required. 20277-00001 aa...

  • Page 16: Theory Of Operation: Balancing Dynamics

    RMP. Interaction With The Environment When the RMP makes contact with other objects in the environment, the results can be counter- intuitive at first. If the RMP is displaced from its desired position, it will lean against the displacement force, creating a new equilibrium position.
  • Page 17 12 feet and switch to tractor mode. This case also results rapid acceleration to the right until the RMP can level itself. If the RMP is driven so that it gets one edge caught under a 20277-00001 aa...
  • Page 18 (e.g. a counter or table), the resulting torque is also to the right. In this case, for the RMP to drive to the left on its own, the edge under the table must raise up to tilt to the left.

  • Page 19: Fore/Aft Motion

    The following graphs show what happens when the RMP is displaced from a resting position. Pay attention to the following behaviors. The torque applied by the wheels is non-zero when the RMP is displaced from equilibrium – it • is trying to return to its start location It will overshoot the desired pitch and position a little before coming to rest •...
  • Page 20 The wheel speed overshoots the desired speed in order to stop accelerating and maintain • constant speed The tilt angle of the RMP is a direct function of the acceleration limit – lower acceleration • rates produce less tilt. This figure shows the response of the RMP to a step input in the velocity command.
  • Page 21 Version 2.0 Segway RMP – User Guide This figure shows the response of the RMP to a step input in the velocity command. The commanded speed is 2 mph or 0.88 m/sec. The Acceleration scale factor was set to 25% of maximum (4 counts)
  • Page 22 Version 2.0 Segway RMP – User Guide This figure shows the response of the RMP to a series of step inputs in the velocity command. The commanded speed is 4 mph or 1.77 m/sec. Acceleration scale factor was set to 50% of maximum (8 counts). Note the variations in pitch when the command is reversed from full forward to full reverse –...

  • Page 23: Turning

    Segway RMP – User Guide Turning The Segway RMP uses a simple algorithm to control turning – the right and left wheels are driven at different speeds. The commanded yaw rate of the RMP is calculated in two ways. At low speed, the turning input is used to specify a rotation rate (e.g.

  • Page 24: Configuration And Operation

    Emergency-stop (E-stop) Function The RMP provides an E-Stop switch that will cause the RMP to turn off if the switch is opened. The E-Stop function is activated when the red tether pulls the clip off the switch on the RMP User Interface.

  • Page 25: Safety Shutdown Function

    The Segway RMP also monitors battery state of charge to ensure that enough power is available to balance the RMP. For many classes of faults, the Segway RMP will execute a “Safety Shutdown” if Balance Mode operation can not be ensured.

  • Page 26: Basic Operation

    RMP motors. Startup The RMP system starts up when the green power switch on the User Interface (UI) box is actuated. The green panel switch LED illuminates, indicating power is supplied to the UI. At this point the UI is able to send and receive USB and CAN messages.
  • Page 27 Some movement may occur while the RMP finds equilibrium. Once Balance Mode is enabled you do not need to assist the RMP. At this point the RMP is able to balance itself and holding of the RMP by the user will inhibit this action and may produce unintended behavior.
  • Page 28 Segway RMP – User Guide Shutdown Pressing the yellow motor power switch on the UI turns off motor power to the system. The RMP motors will power down from either Balance Mode or Tractor Mode. The motors may also be turned off by command from the host processor to the UI.
  • Page 29 Set the torque limit to 32 counts (max= 256). 1. Place a 10 lb object on the edge of the plate – the RMP will move to rebalance it self. Which way did it move? 2. Try pushing horizontally on the top plate – how does the top plate tilt in response to a horizontal disturbance force? 3.

  • Page 30: Error Conditions

    Excessive distance from commanded location: The RMP balance controller is designed to hold position based on several controller error terms. If the wheels on the RMP rotate too far from the original resting location (an equivalent of 12 feet of displacement) the RMP will disable Balance Mode and switch to Tractor Mode.

  • Page 31: Tire Pressure

    Version 2.0 Segway RMP – User Guide Tire Pressure The tires should be inflated according to the following guidelines: Payload RMP200 RMP50 RMP400 RMP100 RMP200ATV 25lb 4-8 psi 10-15 psi 2-6 psi (0.27 – 0.55 bar) (0.69 – 1.03 bar) (0.13 –...

  • Page 32: Rmp Configuration Parameters

    – namely the handling and dynamics of the control loop will be better damped and more predictable. The payload configuration is different for the RMP 100 and 200; refer to the appropriate part of the Controller Gain Schedules section for your RMP.
  • Page 33 Version 2.0 Segway RMP – User Guide RMP 200 Payload Configurations Using the “Tall” configuration requires extra care –tilt angles as small as 10 degrees result in large relative displacements of the wheel and upper payload. 25 lbs 75 cm...
  • Page 34 Version 2.0 Segway RMP – User Guide RMP 100 Payload Configurations 25 lbs 50 lbs 100 lbs 69 cm Light Tall Heavy Medium (Gain Schedu le 0) (Gain Schedu le 1) (Gain Schedu le 2) This figure depicts the three payload configurations that the RMP200 is designed to handle.

  • Page 35: Battery Packs

    Reducing available torque may be prudent in some cases. In Balance mode, limiting the torque too much will result in the RMP falling over during a transient. If in doubt, test the RMP performance using a robust payload that can tip over without being damaged.

  • Page 36: Safety Guidelines

    Li-ion Battery Packs are considered "Hazardous Materials" under shipping regulations. You may ship your Segway RMP by ground or sea with Li ion Battery Packs installed. You cannot ship your Segway RMP by air with Li-ion Battery Packs installed. You cannot ship your Li-ion Battery Packs separately from your Segway RMP by any means of transport.
  • Page 37 Battery Packs or performing any service. It is hazardous to work on any part of your Segway RMP when it is plugged into AC power. You risk serious bodily injury from electric shock as well as damage to your Segway RMP.

  • Page 38: Charging

    Segway RMP into AC power when it is not in use. Even if you will not be using your Segway RMP for an extended period of time, you should leave it plugged into AC power. Otherwise, the Battery Packs could fully discharge over time, causing them permanent damage.
  • Page 39 Version 2.0 Segway RMP – User Guide Charge Indicators The User Interface has two LED (Light Emitting Diode) charging indicators located above the Charge Port. The left charging indicator corresponds to the front Battery Pack, the right to the rear Battery Pack. They are marked “FRONT” and “REAR,” respectively. The charging indicators provide independent information regarding whether each Battery Pack is charging.
  • Page 40 If the charging indicators still do not show solid green within 15 minutes, contact Segway. In hot conditions, you can improve charging by: • Moving the Segway RMP or off board charging unit out of the sun, or off of hot asphalt (into an air-conditioned environment is best). •...

  • Page 41: General Battery Information

    The Segway RMP has a regenerative braking system that charges the Battery Packs when descending a hill or slowing down, or when you push or pull the Segway RMP while in Tractor Mode. When driving downhill, you may notice an increase in the battery charge level. If your Battery Packs are already completely full at the top of a hill, when you descend, a speed limit may be enforced to prevent overcharging.
  • Page 42 Battery Pack. Redundancy is a critical safety feature built into the Segway RMP. This applies to the Battery Packs. Therefore, you should replace Battery Packs in pairs (except for the unusual situation where a Battery Pack is replaced because of damage or defect and the other Battery Pack is relatively new).

  • Page 43: Service Operations

    Segway RMP is powered on or charging. 2. Tip the Segway RMP onto its side so that the outside of one of the wheels lays flat against a clean, smooth surface. (Place a soft material under the wheel to reduce the chance of scratches.)
  • Page 44 Version 2.0 Segway RMP – User Guide Clean your Segway RMP with soap and water and a soft cloth. Do not use a power washer or high pressure hose because this could drive water into components that must stay dry. Avoid getting water in the Charge Port or the USB Port.

  • Page 45: Contact And Legal Information

    Report All Incidents If you or any other user of your Segway RMP is involved in an accident, or if your Segway RMP performs in a way that you do not intend or in a way that it is not supposed to, contact Segway Customer Operations by telephone at 1-866 4SEGWAY (1-866-4929), or by Email: technicalsupport@segway.com...

  • Page 46: Glossary

    The portion of the Segway HT or RMP that includes the chassis, batteries, motors, gearboxes, and balance electronics. Safety Shutdown: A state that is activated if the RMP recognizes a fault in any of its systems. The RMP lets its operator know it is performing a safety shutdown by beeping, shaking, and slowing to a stop.

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