Related Manuals for Omron AmigoBot
Summary of Contents for Omron AmigoBot
- Page 1 AmigoBot User’s Guide With Activ Media Intelligent Robotics Software ARIA ▪ Saphira ▪ Mapper ▪ Simulator...
- Page 2 The ActivMedia Robotics Interface for Applications (ARIA) software on disk or CD and on the AmigoBot server FLASH ROM that accompany the robot and accessories and which are available for network download by ActivMedia Robotics customers are solely owned and copyrighted by ActivMedia Robotics LLC.
- Page 3 Federal Communications Commission (FCC) Statement This equipment has been tested and found to comply with the limits for a class B digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial or residential environment.
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Page 4: Table Of Contents
AmigoBot Users Guide Table of Contents INTRODUCTION ......................1 ? ............................1 HAT IS MIGO AmigoBot Hardware..................................2 AmigoBot Operating System Software .............................2 AmigoBot Control Mode Software ............................3 ARIA.......................................3 Saphira ......................................4 Simulator .......................................4 Mapper ......................................4 ..........................4 YSTEM ODE AND OUNDS ............................. - Page 5 Control Mode.....................................18 System Mode....................................18 ............................19 AFETY EATURES Pick It Up! ....................................19 Watchdog ....................................19 Low Battery....................................19 MAINTENANCE & REPAIR..................... 20 ............................20 RIVE UBRICATION ............................ 20 MIGO ATTERIES Manually Charging the Battery..............................20 ............................21 ACTORY EPAIRS SPECIFICATIONS ......................22 WARRANTY & LIABILITIES....................24...
- Page 6 AmigoBot Users Guide...
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Page 7: Introduction
W h a t i s A m i g o B o t ? AmigoBot is an intelligent mobile robot: not a toy, but a powerfully smart moving machine. Intelligent because it has an onboard microcontroller with software (AmigOS) and sensors that enable the robot to sense what’s around it and to safely drive in and around its environment. -
Page 8: Amigobot Hardware
The standard AmigoBot comes with eight sonar—the six perforated gold discs around the front and the two in the rear. AmigoBot’s micro-controller uses sonar like a bat to not only sense objects forward, side, and aft, but also to determine how far away they are (“range finding”). -
Page 9: Amigobot Control Mode Software
Control-mode software applications like the ARIA demo communicate with AmigoBot through a serial interface, either directly tethered via AmigoLeash or wirelessly with the Serial Ethernet accessory or radio modems. Currently available robotics software and development environments for the Microsoft Windows or Red Hat©... -
Page 10: Saphira
Some system-mode tools like AmigoSounds come with the basic robot. We provide others, such as an AmigOS download tool, at our AmigoBot support website along with new AmigOS software as it becomes available. We also provide a selection of system tools, such as the AmigoConfigurator, with the AmigoBot Technical Manual. -
Page 11: Basic Components (All Shipments)
Direct access to the AmigoBot technical support team Free subscription to ActivMedia’s Personal Robots Newsletter This is just a partial list of options and accessories; new ones appear regularly. Sign up for amigobot-users to receive automatic notification or browse the AmigoBot website for details. -
Page 12: Amigobot Server
Having a problem? Can’t find the answer in this guide or any of the other manuals? Do you know a way that we might improve AmigoBot? First consult this guide and check into our online Frequently Asked Questions (FAQ) section on the http://www.amigobot.com server. -
Page 13: Installation & Set-Up
Some libraries and tools get put into /usr/local/bin and /usr/local/lib. You need read, write, and execution permissions to operate AmigoBot through your LINUX PC’s serial port and to operate the Simulator through a special robot file that gets put into /tmp:... -
Page 14: Guis And Displays
PC and do not have a Serial Ethernet radio installed, plug the other end of the AmigoLeash into the RJ-11/12 receptacle (Control Port) that comes out of the top of the robot. The similar RJ- 11/12 receptacle on the bottom of AmigoBot next to the charger port and power switch also is... -
Page 15: Amigobot With Serial Ethernet
You’ll eventually use AmigoLeash in that port, too, but not to operate AmigoBot. Rather, the alternate “System” serial AmigoLeash in that port, too, but not to operate AmigoBot. Rather, the alternate “System” serial port is for special tools like AmigoSounds. -
Page 16: Quick Start
U I C K TA R T This chapter describes how to quickly set up and operate your AmigoBot robot with the ARIA demonstration software. For more details about programming and operating your AmigoBot with ARIA or other client software, see their respective programming manuals. -
Page 17: Client Server Connection
Client Server Connection First, please note well that you cannot connect with and control your AmigoBot through its controller directly from a remote client over the network without special hardware (new radio Ethernet-to-serial device). If you are using radio modems or the new Low-Speed Ethernet-to-serial device to communicate wirelessly from a desktop PC to the robot controller, now is a good time to power the units. -
Page 18: A Successful Connection
D i s c o n n e c t i n g When you finish, press the Esc key to disconnect the ARIA client from your AmigoBot and exit the ARIA demonstration program. Your AmigoBot should disengage its drive motors and stop... -
Page 19: Operation And Modes
P E R AT I O N A N D O D E S Your AmigoBot Intelligent Mobile Robot has just a few simple buttons, switches, indicators, and connectors that enable a rich variety of operational modes and applications. C o n t r o l s , S w i t c h e s , I n d i c a t o r s , a n d S o u n d s... -
Page 20: Reset, Motors/Test Buttons And System/User Led's
As part of its microcontroller, AmigoBot has an onboard audio system capable of reproducing recorded voices, music, and sound effects. Up to 255 sounds can be stored in AmigoBot’s 1MB of onboard FLASH memory, for a total of about 90 seconds of assorted audio playback. The first 49 sounds are dedicated system cues automatically played when the robot is started up or reset, during self-tests, after making a connection with software like ARIA, and so on. -
Page 21: Motors And Position Encoders
(approximately 30 ticks per millimeter) that the AmigoBot controller uses to sense and to control distance, direction, and speed. AmigoBot’s tires are 4 inches in diameter and made of soft, but firm rubber for good traction and low compressibility. Keep them clean and oil- and grease-free to maximize traction for climbing up and down ramps and over sills, and to minimize slippage on smooth surfaces. -
Page 22: Erial And Ccessory Orts
AmigOS and the AmigoBot parameters. or Navigator. Control Serial Port If your AmigoBot does not have an AmigoBot with Serial Ethernet radio Ethernet, there is an RJ-11/12 connector on top of the robot that is the Control serial port. Connect it through AmigoLeash to a serial port on your PC to run Control-mode software, such as ARIA, Saphira, or Ayllu programs. -
Page 23: Modes Of Operation
A system sound should warn you that you have initiated Self-Test Mode. Press the Reset button to cancel the tests at any time. Within five seconds, press the Motors/Test button once again to actually start the tests. (If after five seconds you don’t engage self-tests, AmigoBot will automatically revert to its startup state) Motors Test The first self-test exercises the robot’s motors. -
Page 24: Control Mode
Sophisticated robotics programs like the ARIA demo or Saphira establish control of the robot through the Control serial port. Accordingly, you must have an AmigoLeash or the AmigoBot with Serial Ethernet radio attached between the controlling PC’s serial port and the robot’s Control Port. -
Page 25: Safety Features
If you ignore its complaint and let AmigoBot’s battery discharge to below 10 volts, the onboard systems will go into shutdown. Although it is not able to shut off its power entirely, AmigoBot will stop moving (motors take a lot of power) and wait for you to come to its rescue. -
Page 26: Maintenance & Repair
An occasional drop or two of oil on the axle bushings between the wheels and the metal chassis won’t hurt. Keep the axles clear of carpet or other strings that may wrap around and bind up AmigoBot’s drive. Occasionally wipe the tires with a damp cloth, and especially remove any dirt or debris that may accumulate on the tires—these will degrade the robot’s performance. -
Page 27: Factory Repairs
Maintenance & Repair F a c t o r y R e p a i r s If after reading this guide, you’re still having problems with your AmigoBot and you’re sure that it needs repair, contact us: All repair problems should be addressed to: amigobot-support@activmedia.com... -
Page 28: Specifications
P E C I F I C AT I O N S Physical Characteristics Length 33 cm Width 28 cm Height (body) 13 cm Body clearance 3 cm Weight 3.6 Kg Payload 1 Kg Construction Body Molded polycarbonate Chassis 1.6mm CNC fabricated aluminum Assembly Allen hex screws (metric) Power... - Page 29 Error! Reference source not found. Sonar 8 total 1 each side 4 forward 2 rear Position/speed encoders 2 (one each motor) 39,000 ticks per wheel revolution 124 ticks per mm Electronics Processor 20 MHz Hitachi H8 Position inputs Sonar inputs 1 x 8 (multiplexed) Communication port 2 RS-232 serial...
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Page 30: Warranty & Liabilities
I A B I L I T I E S Your AmigoBot is fully warranted against defective parts or assembly for 90 days after it is shipped to you from the factory. Accessories are warranted for 90 days. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation. - Page 31 19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.amigobot.com sales@activmedia.com...
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