Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for K-Team Khepera IV Stargazer
Summary of Contents for K-Team Khepera IV Stargazer
- Page 1 Khepera IV Stargazer User manual Version 1.1 February 2017...
- Page 2 • All efforts have been made to ensure the accuracy of the content of this manual. However, should any error be detected, please inform K- Team. • The above notwithstanding, K-Team can assume no responsibility for any error in this manual.
-
Page 3: Table Of Contents
TABLE OF CONTENTS 1. INTRODUCTION ............... 1 ............1 OW TO USE THIS HANDBOOK ..............2 AFETY PRECAUTIONS ................2 ECYCLING ................ 3 PECIFICATIONS 2. UNPACKING AND INSPECTION ......... 4 ..............4 ACKAGE ONTENTS ................4 NSPECTION 3. DESCRIPTION ..............5 ................ -
Page 5: Introduction
INTRODUCTION Thank you for buying the Khepera IV Stargazer (abbreviated KSG in this document)! With this module, you will be able to have global position and bearing of your Khepera IV robot. 1.1 How to use this handbook This handbook introduces the KSG and its various operating modes. -
Page 6: Safety Precautions
Safety precautions Here are some recommendations on how to correctly use the KSG: • Keep the board away from wet area. Contact with water could cause malfunction and/or breakdown. • Store your board in a stable position. This will avoid the risks of falling, which could break it or cause damage to a person. -
Page 7: Specifications
1.4 Specifications The main specifications of the KSG board are listed below: Range max :2.5-3 m of diameter with 1 landmarks (for ceiling height of 2.4 m* Accuracy : 3.5 cm / 3 degrees * Measurement time : 10 times /sec Autonomy : 2h30 ;... -
Page 8: Unpacking And Inspection
Your package should contain the following items: 1. KSG board 2. DVD with software and this User Manual* * Updates can be found at http://www.k-team.com/ 2.2 Inspection First, check that you have a complete package. You should find: • the KSG module •... -
Page 9: Description
Description 3.1 Overview An overview of the KSG hardware is depicted in the Figure 3.1. The locations of various key elements are indicated for later references. axis of rotation of the robot BACK Stargazer module Figure 3-1: KSG overview – top view α... -
Page 10: Ksg Hardware
3.2 KSG Hardware The KSG module is composed of a Stargazer position module from Hagisonic co. Ltd and the K4LFSG battery module. There are also landmarks to put on the ceiling. The Stargazer module has IR LEDs for lighting landmarks and a camera for capturing the image, which is processed by onboard electronics. -
Page 11: Usage
• Computer with Bluetooth or Wi-Fi access • KSG module • Khepera IV robot 4.1.2 Required software • Khepera IV light toolchain installed (see Khepera IV User Manual) • Libkhepera library Remarks: You may find updated version of these software at: http://ftp.k-team.com/... -
Page 12: Assembly
4.2 Assembly 4.2.1 KSG on the robot The assembly of the board with the robot is depicted in Figure 3 Figure • The assembly and disassembly must be done while the robot is switched OFF; also the robot and KSG must not be charging. •... -
Page 13: Landmarks Setting
The default landmarks delivered with the KSG are of type HLD1S. They can be used with a height range of 1.1-2.9 m. See chapter 3 A and appendix C of “Stargazer User’s Guide” for more information about the landmark: http://ftp.k-team.com/KheperaIII/KSG/StarGazer_Guide_02.0904.16(English).pdf... -
Page 14: Power-Up And Test
4.3 Power-up and test The KSG module is switched ON when the Khepera IV robot is switched ON. It starts autonomously sending position through the serial port, if it sees a landmark. 4.3.1 Test You can also launch the kgazer_test program (see chapter 4.4.2) or test with the instructions below: put the robot so that it can see landmarks (for placing landmarks, see chapter 4.2.2). - Page 15 The command ~#CalcStart` starts again the position computation. write the following command to get Stargazer firmware version: ~#Version` => return should be: ~!Version`~$Version|2.1101.18` See Stargazer User’s Guide for more information on chapter 6 for commands and on chapter 7 for landmarks: http://ftp.k-team.com/KheperaIII/KSG/StarGazer_Guide_02.0904.16(English).pdf...
-
Page 16: Programming The Ksg
Libkhepera version 1.0 or greater. If you already have a Libkhepera installed in your computer but with an older version, you can download the latest version on our ftp: http://ftp.k-team.com/ If your Khepera IV has already the latest Libkhepera installed, jump to section 4.4.2. - Page 17 By hand: • Remove the old libkhepera: rm /usr/lib/libkhepera* • Copy or send the libkhepera.so.1.0 file (located in the build- khepera-2.6/lib/ directory of the libkhepera source files) to the directory /usr/lib. • Link the libkhepera file as libkhepera.so: ln -s /usr/lib/libkhepera.so.1.0 /usr/lib/libkhepera.so...
-
Page 18: Using The Ksg With Kgazer_Test Software
4.4.2 Using the KSG with kgazer_test software The kgazer_test is a test and example program given also in source code in directory src/tests/ of the Libkhepera library. After copying this program to the Khepera IV and launching it with the command ./kgazer_test , it will initialize the Stargazer, display the version of its internal software, ask if you would like to change its parameters (number, type and reference of landmark) . -
Page 19: Compiling Your Own Program Using The Libkhepera
4.4.3 Compiling your own program using the libkhepera To make your own software to control the KSG, you need to install the development tools for the Khepera IV on your computer (with Linux OS). If it is not already done, please look at the Khepera IV User Manual to know how to install it. - Page 20 HLD2L Index of landmark type HLD2L: #define HLD2L 3 HLD3S Index of landmark type HLD3S: #define HLD3S 4 HLD3L Index of landmark type HLD3L: #define HLD3L 5 NB_MARK_MODES Number of landmark modes: #define NB_MARK_MODES 2 MARK_ALONE Alone landmark mode index: #define MARK_ALONE 0 MARK_MAP Map landmark mode index:...
- Page 21 4.4.3.2 Variables External variables for transferring data that are declared in the header file and defined in the library are described below: kb_gazer_landmark_types Array of array of char containing landmark types, defined like this: const char *kb_gazer_landmark_types[] = {"HLD1S","HLD1L","HLD2S","HLD2L","HLD3S","HLD3L"}; kb_gazer_landmark_modes Array of array of char containing landmark modes, defined like this: const char *kb_gazer_landmark_modes[] = {"Alone","Map"};...
- Page 22 kb_gazer_get_version ( char * version) Gets Stargazer firmware version. 0 : no error Return: -1 : serial port not open -2 : command not acknowledged -3 : command not acknowledged version: firmware version. Parameter: kb_gazer_set_landmark_number ( number) Sets the numbers of landmarks to be used. 0 : no error Return: -1 : serial port not open...
- Page 23 kb_gazer_get_landmark_type ( int * type) Gets the landmark type index. 0 : no error Return: -1 : serial port not open -2 : command not acknowledged -3 : unknown landmark type Parameter: *type: landmark type index. kb_gazer_set_landmark_mode ( mode) Sets the landmark mode index. 0 : no error Return: -1 : serial port not open...
- Page 24 kb_gazer_start_map_mode ( void) Starts the map building mode 0 : no error Return: -1 : serial port not open -2 : could not stop receiving position -3 : command not acknowledged Parameter: - kb_gazer_set_end_command ( void) Sets end of commands for update. 0 : no error Return: -1 : serial port not open...
- Page 25 kb_stargazer_read_data (double * x, double * y, double * z, double * angle, int * idnum, char * cmode, int corr) Reads and interprets data from the Stargazer. Should be called periodically (up to 10 times/s). kb_gazer_start_computation must be called once before.
-
Page 26: Software Example
4.4.4 Software example A small example of software controlling the KSG is enclosed below. find source code file libkhepera- VERSION/src/tests/kgazer_small_ex.c. This sample example does not use calibration of the sensor due to parallelism error of the ceiling and sensor plan. This results in x/y error when robot rotates. - Page 27 for (i=0;i<10; i++) // read 10 data // read sensor values ret=kb_stargazer_read_data(&x,&y,&z,&angle,&idnum,&cmode,0); switch(ret) case 0: printf("data %d: [cm,deg] x= %+6.1f y= %+6.1f angle= %+6.1f height= %+6.1f idnum= %4d mode: %c\n",i,x,y,angle,z,idnum,cmode); break; case -3: fprintf(stderr,"\nERROR: read error: buffer too short, leaving!\n"); break;...
-
Page 28: Warranty
If no answers have been received within two working days, Customer can contact K-TEAM support by phone or by electronic mail with the full reference of its order and KSG serial number. K-TEAM shall then, at K-TEAM's sole discretion, either repair such Product or... - Page 29 This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories, products or ancillary or peripheral equipment, or where it is determined by K-Team that there is no fault with the Product itself.
- Page 30 K-Team S.A. Z.I Plans-Praz 28 1337 Vallorbe Switzerland...
Need help?
Do you have a question about the Khepera IV Stargazer and is the answer not in the manual?
Questions and answers