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Table of Contents
Summary of Contents for MobileRobots Pioneer Arm
- Page 1 Pioneer Arm Manual with NEW! AKIN Arm Kinematics Software...
- Page 2 MobileRobots Inc. The software on disk, CD-ROM and firmware which accompany the robot and are available for network download by MobileRobots customers are solely owned and copyrighted or licensed for use and distribution by MobileRobots Inc. Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only.
- Page 3 Getting the equipment wet Continuing to run the equipment after hair, yarn, string, or any other items have become wound in one or more of its joints All other forms of inappropriate operation or care Use MobileRobots authorized parts ONLY; warranty void otherwise.
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Page 4: Table Of Contents
Table of Contents CHAPTER 1 INTRODUCTION ........................1 ..........................1 IONEER LATFORM ............................. 1 IONEER ......................2 ONTROL ARDWARE AND OFTWARE ............................2 ACKAGE Basic Components (all shipments)....................... 2 User-Supplied Components / System Requirements................3 ..........................3 DDITIONAL ESOURCES Software ..............................3 Newsgroups ............................ -
Page 5: Chapter 1 Introduction
All servo-driven joints, except for the gripper fingers, pivot or rotate at least 180 degrees. Mounted to the front of the robot’s top plate, the Pioneer Arm has a very wide envelope of operation, reaching 50 centimeters from the center of its rotating base to the tip of its closed fingers. The Pioneer Arm’s reach, therefore, lets you pick up objects from the floor in front of your Pioneer robot and place them on its back. -
Page 6: Control Hardware And Software
AT or Performance PeopleBot robot’s top-plate. The Pioneer Arm’s controller is attached to one of your robot controller’s AUX serial ports. Its operation is supported by generic (“pass-through”) serial commands, as well as dedicated Pioneer Arm servers as part of the controller’s embedded system software. -
Page 7: User-Supplied Components / System Requirements
OBILE OBOTS Software Figure 3. Pioneer Arm's vertical reach We maintain a 24-hour, seven-day per week Web server where customers may obtain software and support materials: http://robots.MobileRobots.com Some areas of the website are restricted to licensed customers. To gain access, enter the username and password written on the Registration &... -
Page 8: Support
After you subscribe, send your email comments, suggestions, and questions intended for the worldwide community of Pioneer users to the users group, NOT to the –requests address. For example: To: pioneer-users@MobileRobots.com From: <your return e-mail address goes here> Subject: <something of interest to pioneer users>... -
Page 9: Chapter 2 Installation & Operation
3. Align the two other mounting holes on each side and at the front of the Pioneer Arm’s base plate with their respective holes on the robot’s top plate and secure with the provided mounting screws. -
Page 10: Power To The Arm
Power for the Pioneer Arm’s controller comes from your robot’s batteries, as switched by Main Power Power to the Pioneer Arm servo joints is normally OFF and only switched ON from software by toggling a digital output port in the arm controller. -
Page 11: Arm And Arm Kinematics Demonstrations
9600 baud. Also note that an LED attached to the Pioneer Arm controller only flashes on and off when the arm is properly attached, the Arm servers are enabled, and there are proper communications between the Pioneer controller and the arm controller. -
Page 12: Safety Watchdogs
Click the button again later to have the arm achieve that configured position. Safety Watchdogs It is important to well manage the Pioneer Arm to minimize its power consumption and to protect it and its surroundings from inadvertent damage. The robot controller’s Arm servers support important features that monitor Arm activity and automatically, if enabled, act to protect your Pioneer Arm. -
Page 13: Timed Shutdown
MobileRobots Inc. Timed Shutdown Another Pioneer Arm watchdog tests the amount of time that may lapse while the robot is connected with a client PC and the Arm is in service but has not moved. If that time is excessive, the... -
Page 14: Chapter 3 Software And Programming
Your robot’s Pioneer Arm support servers, on the other hand, give you control over joint speeds and maintain current position information, as well as a variety of other advanced and convenient features. Which is why we recommend that you program to the Pioneer Arm servers and not to the arm’s generic command set. -
Page 15: Generic Command Communications
Your robot’s controller has software with advanced control functions for safe and convenient operation of the Pioneer Arm. These include commands to enable and disable power to the arm’s servos, to move the arm to a new position—joint-by-joint and each at a controllable speed—and to query for current arm positions and status. -
Page 16: Info And Arminfopac
Arm-related SIP decoders come with the provided ARIA software. POWER After establishing a client-server connection, you must send the client command #74 with argument value of one to have power enabled to the Pioneer Arm’s servos in order to move its joints to positions other than HOME If you subsequently tell the servers to disable power to your arm’s servos (command #... -
Page 17: Status And Armpac
Warm Reset Protocols below. SPEED and POS The Pioneer Arm servers move a joint from one position to another in individual steps, rather than effect an uncontrolled jump from one position to another as happens with the generic arm commands. -
Page 18: Speed Limits
Joint speeds have limits. Generic arm-position commands take two bytes each. Serial communication with the Pioneer Arm controller is 9600 baud, which is about 1 byte per millisecond. Hence, an individual joint may move at the maximal speed at about one new position every two milliseconds, even though the server attempts to update each joint every millisecond. -
Page 19: Aria And Arakin Arm Support
Pioneer Arm through the arm servers. -
Page 20: Arp2Armsimple, Arakindemo And Arakinexample
ARIA-integrated, AKin-based kinematics demonstrations, ArAKinDemo ArAKinExample These simple demonstration programs just exercise the Pioneer Arm, but modify their source code at will to incorporate your own actions with other Pioneer robotics functions. Windows executables get put into the Aria\bin directory. -
Page 21: Chapter 4 Arm Flash Parameters
Operations Manual for more details about all the other FLASH configuration parameters and supporting utilities. Firmware Tools and Parameters Your robot controller maintains six operating values for each of the six joints of your Pioneer Arm. These include positions, default joint... -
Page 22: Step 1. Serial Connection From Computer To Robot
Arm FLASH Parameters Step 1. Serial Connection from Computer to Robot Connect your robot’s controller to your host PC through their respective serial ports. If you have HOST an onboard PC, use it to perform the configuration updates. Otherwise, switch its power OFF and use a direct (“straight-through”) serial tether from an off-board PC to the 9-pin SERIAL connector on your... -
Page 23: Step 5: Changing Arm Configuration Parameters
Arm values. Editing the Arm Parameters To view the list of current FLASH values for your Pioneer Arm, type 'a' or “arm”, followed by a return ). Type ' ' or to see a list of commands. - Page 24 Cailbrated at the factory. ¥ With the Pioneer Arm parameters, several relate to the individual servos, so that the number at the end of the keyword refers to the joint. Values are a positive decimal or hexadecimal ("0xnn") numbers from 0 to 255 (0xFF), except speeds, which are constrained from 1 to 127.
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Page 25: Chapter 5 Maintenance & Repair
OBOTS warranty void otherwise. Factory Repairs If, after reading this manual, you’re having hardware problems with your Pioneer Arm and you’re satisfied that it needs repair, contact us: http://robots.MobileRobots.com/techsupport Include your robot’s serial number. In the body of your email or fax message, describe the problem in as much detail as possible. - Page 26 Appendix A SPECIFICATIONS CONSTRUCTION: anodized, CNC fabricated, and painted aluminum, and plastic, with foam-covered gripper fingers MOTION: 5 DOF arm and 1 DOF gripper POWER: +5 and +12 VDC supplied by Pioneer robot ARM RANGE: 50 cm fully extended GRIPPER RANGE: Gripper fingers part to 5 cm PAYLOAD: 150 gm (5 oz.) lift capability SPEED: 1 second from fully extended to fully relaxed position...
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Page 27: Warranty & Liabilities
Warranty & Liabilities Your MobileRobots platform is fully warranted against defective parts or assembly for one year after it is shipped to you from the factory. Accessories are warranted for 90 days. Use only MobileRobots authorized parts or warranty void. This warranty also explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects. - Page 28 19 Columbia Drive Amherst, NH 03031 USA +1 (603) 881-7960 +1 (603) 881-3818 fax http://www.MobileRobots.com...
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