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K-Team Khepera III User Manual

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  • Page 3 • All effort have been made to ensure the accuracy of the content of this manual. However, should any error be detected, please inform K-Team S.A. • The above notwithstanding K-Team can assume no responsibility for any error in this manual. Khepera III manual ver 2.2...

  • Page 4: Table Of Contents

    2 Unpacking and Inspection 3 The Robot and Its Accessories 3.1 The Khepera III Robot ..... 3.1.1 Overview ......
  • Page 5 5.3 Serial communication protocol ....28 5.3.1 Testing a simple interaction ....28 6 KoreBotLE programming A Communication protocol Khepera III manual ver 2.2...

  • Page 6: Introduction

    1 Introduction How to Use this Manual This manual is introducing the Khepera III robot. For a quick start and overview of the robot’s functions, please read chapter 1 to 4. Refer to the following summary if a particular information is needed.

  • Page 7: Recycling

    Thanks for your contribution to a cleaner environment! Khepera III manual ver 2.2...

  • Page 8: Unpacking And Inspection

    Open the bag and check each item in the box. You should having the following material. 1. Khepera III robot 2. KoreBotLE ( not included in the Khepera III base package ) 3. Power Supply with a primary plug 4. Battery Pack 5.

  • Page 9: The Robot And Its Accessories

    3 The Robot and Its Accessories The Khepera III Robot 3.1.1 Overview Figure 3.1: Overview of the Khepera III robot. Make an external inspection of the robot. Note the location of the fol- lowing parts: 1. Infrared sensors. 2. Ultrasonic sensors.

  • Page 10: On-Off Battery Switch

    See figure 3.1 number 7. 3.1.3 Indication LEDs The Khepera III has six indication LEDs, two for the battery charger, one for the Power ON, one for the state of the motors controller and two pro- grammables by the end-user (see figure 3.2).

  • Page 11: Serial Connector

    8. USB D+ 3. dsPIC RXD 11. GND 4. dsPIC TXD 12. GND 6. VCC ( +5V ) Figure 3.3: Details of the Khepera III serial connector. Pin 5, 9 & 10 are not connected. Khepera III manual ver 2.2...

  • Page 12: Cable Unroller Connector

    USB connector The mini-USB connector is usefull only when a KoreBotLE is plugged in the Khepera III. You can connect directly your PC to the Khepera III with an ordinary mini-USB cable. To communicate with the KoreBotLE through the USB connector, please refer to the documentation of the KoreBotLE (found on the web site www.k-team.com).

  • Page 13: How To Plug A Korebotle

    But if you buy it afterward, you must first unmount the upper body of the Khepera III, then plug the KoreBotLE on the extansion connectors (see figure 3.5). If you have any other extansion (KoreIO, KoreSound, KoreVision, etc...), you must only remove the black...

  • Page 14: Motors And Motor Control

    The motor control block acts as slave devices on the I2C bus. When the KoreBotLE is not connected to the Khepera III robot, the main robot CPU will turns itself into an i2c master. When the KoreBotLE is connectedm, it becomes the i2c master.
  • Page 15 If the controller receives a position control command, the control mode is automatically switched to the position mode. Different control parameters (Kp, Ki and Kd) can be set for each of the two control modes. Khepera III manual ver 2.2...

  • Page 16: Speed

    Where Kspeed is 144.01 when default configuration is used. The maximum reachable speed is 48’000 (= 333 mm/s) in open loop, and 43’000 (= 298 mm/s) in regulation mode. And the minimum is 2’000 (= 13.9 mm/s) with regulation control. Khepera III manual ver 2.2...
  • Page 17 First configure the speed profile (’J’ command) with the needed param- eters. Then you can perform a move with the position profile mode (’F’ command). See annexe A for more details about communication protocole. Khepera III manual ver 2.2...

  • Page 18: Infra-Red Proximity Sensors

    Infra-red Proximity sensors Khepera III hase nine sensors placed around the robot and two placed on the bottom. The latters allow experiments like line following. They are positioned and numbered as shown in figure 3.9. Figure 3.8: Bottom view of the IR sensors These sensors embed an infra-red light emitter and a receiver.

  • Page 19: Ambient Light Measurements

    Objects color, materials and surfaces do have an influence on the sensors response. Moreover, as any sensor, IR sensors are subject to environmental noise. For all these reasons, graphics below are given for information only and should not be considered as references. Khepera III manual ver 2.2...

  • Page 20: Ultrasonic Sensors

    See command ’G’ in chapter A for more details about the ultrasonic command. For more details about the ultrasonic sensor, please check at Midas com- ponent, the transceiver is 400ST100 and the receiver is a 400SR100. Khepera III manual ver 2.2...

  • Page 21: Battery

    Figure 3.10: Position of the 5 UltraSonic sensors. Battery The Khepera III is equipped with a battery pack composed of two Li-Ion Polymer element. This provides a 7.4V volt battery with a 1400 mAH capacity. Using its embedded power, the robot is able to run completely autonomously during more than four hours, running with a basic configu-...

  • Page 22: Connections

    OFF. The process is reversed at the end of the charging process. The charging time for an empty battery is about 180 minutes. At this moment the power supply can be unplugged. When charging, the battery can be as hot as 40 degrees. K-Team S.A.

  • Page 23: Configuration For Robot-Computer Communication In Standalone

    To use the standalone serial communication mode, please make sure the following are correct: - No KoreBotLE is connected on the Khepera III. - The robot battery is charged that means the power led is switched on. - The robot must be connected to a KoreConnect module using the...

  • Page 24: Configuration For Robot-Computer Communication With Korebotle

    KoreBotLE. To use the serial communication mode, please make sure the following are correct: - A KoreBotLE is connected on the Khepera III. - The charged Battery or a power supply is plugged, and the robot is turned ON .

  • Page 25: Usb Link

    To use the USB communication mode, please make sure the following are correct: - A KoreBotLE is plugged on the Khepera III. - The charged battery or a power supply is plugged, and the robot is turned ON .

  • Page 26: Bluetooth Communication

    - Try to read the IR sensor value (or another command see chapter A) to validate the communication - Then you can use any other program which used a COM port (like Matlab) to remote control your KheperaIII Khepera III manual ver 2.2...

  • Page 27: Bluetooth Communication With Korebotle

    - Modify it to: S0:2345:respawn:/sbin/getty 115200 ttyS0 - And add this line below: S1:2345:respawn:/sbin/getty 115200 ttyS1 - Save and close the file. Then in the next restart, you will be able to log on your KoreBotLE with Bluetooth. Khepera III manual ver 2.2...

  • Page 28: Serial Communication Mode

    When powered on, the robot should send a message (see fig 5.1) to the terminal emulator. To test that the KheperaIII is able to receive command, try to send the B command to ask the Khepera for the operating system version and revision. Figure 5.1: Boot message of the Kherpera III. K-Team S.A.

  • Page 29: Testing The Secondary Serial Link

    (see fig 5.2). If any of the serial link is not working properly it is then important to ensure that the serial communication settings has been configured correctly. Figure 5.2: Boot message of the KoreBotLE. Khepera III manual ver 2.2...

  • Page 30: Serial Communication Protocol

    3.1.6. - Retry the same command (N) putting some obstacles in front of the robot. The response must change. - Type the protocol command D,l10000,l-10000 followed by a carriage return or a line feed. Khepera III manual ver 2.2...
  • Page 31 - The robot must start turning on place and respond with d and a line feed. - To stop the robot type the protocol command D,l0,l0 followed by a carriage return or a line feed. - Try other commands following the description given in Appendix A. Khepera III manual ver 2.2...

  • Page 32: Korebotle Programming

    6 KoreBotLE programming This section explain how to write a simple program for the KoreBotLE to control the Khepera III base. The Khepera III will act as peripheral of the KoreBotLE. Please refer to the KoreBotLE user manual (found on www.k-team.com) for further details on KoreBotLE programming.
  • Page 33 /* For ever loop */ while(1) /* Wait 5 seconds */ sleep(5); /* Tell to the motor controller to move the Khepera III forward */ kmot_SetPoint( mot1 , kMotRegSpeed , -motspeed ); kmot_SetPoint( mot2 , kMotRegSpeed , motspeed ); /* Wait 5 seconds */ sleep(5);...
  • Page 34 KoreBotLE terminal. If the shared directory is mounted on the default /mnt/nfs, first change working directory: cd /mnt/nfs Then check that kh3test is present: ls -l And execute it: ./k3test Khepera III manual ver 2.2...

  • Page 35: A Communication Protocol

    These numbers are the values of the proximity sensors presents on the robots. - Retry the same command (N) putting some obstacles on the front of the robot. The response must change. - Try other commands... K-Team S.A.
  • Page 36 IR sensor mask, manage the active IR sensor (bit0 = IR0, bit1 = IR1, etc...). IR gain for Braintenberg. Upper body mounted. If the upper body isn’t mounted, change this value to 0 to get better US measure. Khepera III manual ver 2.2...
  • Page 37 Speed. Syntax: D,l20000,l20000 Read speed Command: Answer: e, speed motor left, speed motor right Effect: Read the instantaneous speed of the two motors. See in section 3.2.1 to calculate the equivalent Speed. Example: e,20000,20000 Khepera III manual ver 2.2...
  • Page 38 I, position motor left (32bits), position motor right (32bits) Answer: Effect: Set the 32 bit position counter of the two motors. The unit is the pulse, each one corresponds to 0,047 mm (with encoder resolution x4 (default)). Syntax: I,l1000,l1000 Khepera III manual ver 2.2...
  • Page 39 Where a value of 1023 correspond to PWM of 100%. Syntax: L,l500,l500 Init Motors Command: Answer: Effect: Initialise or reset the motor controllers. Must be used if an error like motor blocked or current limit occured Khepera III manual ver 2.2...
  • Page 40 Set a position to be reached. The move will be performed without acceleration and decceleration. The unit is the pulse, each one corresponds to 0,047 mm (with encoder res- olution x4 (default)). Syntax: P,l1000,l1000 Unused Khepera III manual ver 2.2...
  • Page 41 2: Read the battery Average Current (Units: 1A, 0.1mA). 3: Read the battery Absolute Remaining Capacity (Units: 1Ah). 4: Read the Temperature of the battery (Units: 1 C, 0.1 ´ ). 5: Read the battery Relative Remaining Capacity (Units: Unused Khepera III manual ver 2.2...
  • Page 42 Unused Unused Zero the relative time stamp Command: Answer: Effect: Reset the relative time counter. Khepera III manual ver 2.2...

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