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Table of Contents
Related Manuals for Yujin Robot iCLEBO Kobuki
Summary of Contents for Yujin Robot iCLEBO Kobuki
- Page 1 Kobuki User Guide Version 1.1.0 2017/03/15...
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Page 2: Table Of Contents
Contents Contents About Basic Usage Charging First Run Software Problems Advanced Usage Replacing Batteries Updating Firmware Linux Windows Serial Port Connectivity Adding a Custom Sensor Array Specifications Safety Guideline Functional Hardware Software Anatomy Top View Bottom View Control Panel Connectors Models &... -
Page 4: About
About Introducing Korea’s first robotic turtle. kobuki [ 거북이 ] n. turtle Kobuki is robotically engineered to be long-lived, tough and fast. With high performance batteries, Kobuki will tirelessly work alongside you through those long coffee-powered nights. He’ll also happily burden himself with your modded array of sensors, actuators, laptops, embedded boards, portside cannons and do it all at a speed that makes his real world cousins seem like …... -
Page 5: Basic Usage
Basic Usage Make sure be aware of the s afety guidelines Charging Connect the power adapter to Kobuki or dock Kobuki in the docking station. If Kobuki is turned on, you will hear a short sound when charging starts and the LED will light up appropriately. ●... -
Page 6: Advanced Usage
Yujin Sales Support: ● k obuki@yujinrobot.com Note: Kobuki comes with a 1 year warranty. In case you bought Kobuki from another one of Yujin Robot’s distributors, please contact them, otherwise email Yujin Sales Support. Advanced Usage Replacing Batteries Warning:... -
Page 7: Updating Firmware
Updating Firmware If you have a ROS installation, you can find the current version by running: $ rosrun kobuki_driver version_info # Version Info: * Hardware Version: 1.0.4 * Firmware Version: 1.2.0 * Software Version: 0.7.7 * Unique Device ID: 97713968-842422349-1361404194 Alternatively you can compile ... - Page 8 Flashing Note: T he following instructions assume flashing of kobuki_firmware-latest.hex and port / dev/ttyUSB0 Modify these if necessary. Warning: y ou need to execute the flashing command IMMEDIATELY after turning the robot on! 1. Turn off the robot 2.
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Page 9: Windows
Windows The Flashing Utility ● Download and install the w indows flashing utility Download the Firmware Find and download the version of the firmware you wish to flash from the K obuki FW File Server Identify the COM Port Usually if this will show up on ... -
Page 10: Serial Port Connectivity
Configure Properties Check that the target is identified Enter the Download from file (your .hex) Success! Rebooting 1. Turn off the robot power 2. Flick the firmware switch back to ‘Operation’ mode. 3. Turn on the robot power 4. I’m happy, you should be too! Serial Port Connectivity... - Page 11 Many embedded boards do not have usb interfaces, or the embedded board doesn’t have the necessary ftdi32 serial->usb support. In these cases it is simpler to utilise the serial port on Kobuki’s expansion port to driving kobuki by serial interface instead of USB. Pinouts Pictured below are the pinouts of Kobuki’s expansion port, include the serial pins.
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Page 12: Adding A Custom Sensor Array
b) Logic Level Interface To connect kobuki with serial port of M CU directly, below is the simplest connection diagram can be used. Serial pins of kobuki are 5V-tolerant. It accepts 3.3V and 5V voltage levels typically used by integrated circuit. -
Page 13: Specifications
● Sensor model : Sharp GP2Y0A21YK ● Power supply : Kobuki’s 5V, 1A ● Sensor reading : Arduino MEGA 2560 ● PC interface : Arduino custom firmware – Bosch adc_driver ● Mounting : 3D printed frame. The analog output of sensors is read by the Arduino board, while for power and ground they are connected to Kobuki’s 5V 1A power source. -
Page 14: Hardware
● Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade) ● Payload: 5 kg (hard floor), 4 kg (carpet) ● Cliff: will not drive off a cliff with a depth greater than 5cm ● Threshold Climbing: climbs thresholds of 12 mm or lower ●... -
Page 15: Bottom View
Bottom View... -
Page 16: Control Panel
Control Panel ● 19V/2A : L aptop power supply ● 12V/5A: Arm power supply ● 12v/1.5A: Microsoft Kinect power supply ● 5V/1A: General power supply ● Status LED: Indicates Kobuki’s status ○ Green: Kobuki is turned on and battery at high voltage level ○... -
Page 17: Models & Drawings
Battery ● 4S1P/4S2P Battery Pack Connector I/O Port ● DB25 pin D-SUB Female connector that provides the following functionality ( p df Cables Note, if you click on the preceding links for the power connectors, under the heading ‘Mates with Part(s)’... -
Page 18: Gyro
● Velocity Constant(Kv): 830 rpm/V ● Stall Current: 6.1 A ● Stall Torque: 33 mN·m Control Method ● Driven by voltage source(H-bridge) ● Controlled by Pulse-width modulation(PWM) Gyro Specification ● 3-Axis Digital Gyroscope ● Manufacturer : STMicroelectronics ● Part Name : L 3G4200D ●... -
Page 19: Power Adapter
This graph shows the position error of fused odometry with gyro, when robot moves along a square path. Robot moved with 0.1 m/s on the line segment and rotated with 30 deg/s on the corner. Number of turns of square path Angular Error [deg] 0.47 1.99... -
Page 20: Batteries
Batteries Kobuki by the default ships with a small Lithium-Ion battery pack (4S1P, 2200mAh, 14.8V). Tip: for extra long operation, a big battery pack (4S2P, 4400mAh, 14,8V) can be ordered as well. Warning: the electronics does not support the use of multiple battery packs at the same time (even if there is room in the battery compartment) Specifications ●... -
Page 21: Serial Port
Serial Port ● RX / TX: Serial data connection (RS232; used voltage level is 3.3V!) ● EX3.3 / EX5: 3.3V/1A and 5V/1A power supply ● DI0 - 3: 4 x Digital input (high: 3.3 - 5V, low: 0V) ● DO0 - 3: 4 x Digital output (open-drain, pull-up resistor required) ●... -
Page 22: Firmware
Firmware Communication ● Baud rate: 115200 BPS, Data bit: 8 bit, Stop bit: 1 bit, No Parity ● Electronic protocol: USB / RS232 (@ DB25 connector) Protocol Specification The driver communicates with the robot by using predefined protocol. In general, the driver sends the commands to the robot and the robot sends some feedback data or sensor readings. -
Page 23: Random Walker Mode
Within in the first 3 seconds press and hold button BO(I) / B1 (II) for 2 seconds. If* you see LED2(I) / LED1(II) switching between red and green, your chosen mode is activated. Note ( *): These modes have been introduced to the firmware with version 1.1.0. In case your Kobuki is not running this or a later version, please refer to the section about ... -
Page 24: Changelog
Resources ● Kobuki Images & Renderings ● Turtlebot Images & Renderings ● Marketing Materials ChangeLog ● 1.0.0 : official release ● 1.0.1 : upgrading firmware link fix ● 1.0.2 : documentation link fix ● 1.0.4 : updating the spec. of serial communication ●...