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Summary of Contents for ActivMedia Robotics Pioneer 2 Arm
- Page 1 Pioneer 2 Arm...
- Page 2 Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia Robotics. The software on disk and on the microcontroller ROM, which accompany the Pioneer 2...
- Page 3 ActivMedia Robotics Important Safety Instructions ! Read the installation and operations instructions before using the equipment. ! Avoid using power extension cords. ! To prevent fire or shock hazard, do not expose the equipment to rain or moisture. ! Refrain from opening the unit or any of its accessories.
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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 .............................. - Page 5 ActivMedia Robotics P2OS U ......................18 NSTALLING THE TILITIES P2OS O ..................19 ONFIGURING PERATING ARAMETERS Step 1. Serial Connection from Computer to Robot................19 Step 2: Enable FLASH.......................... 19 Step 3: Put Microcontroller into Download Mode ................19 Step 4: Run p2oscf ..........................19 Step 5: Changing Configuration Parameters ..................
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Page 7: Chapter 1 Introduction
PC. The Pioneer 2 Arm The Pioneer 2 Arm is an accessory for Pioneer 2-DX/DXE and AT robots. It is relatively low- cost for use in research and in the classroom. Driven by six open-loop servo motors, the five degrees-of-freedom (5-DOF) Pioneer 2 Arm’s end-effector is a gripper whose foam-... -
Page 8: Control Hardware And Software
Introduction the tip of its closed fingers. The Pioneer 2 Arm’s reach, therefore, lets you pick up objects from the floor in front of your Pioneer 2 robot and place them on its back. Figure 2. The Pioneer 2 Arm’s horizontal reach Control Hardware and Software The Pioneer 2 Arm comes with its manufacturer’s PIC-based controller and servo-driver... -
Page 9: User-Supplied Components / System Requirements
! Client-side PC and robot software, such as ARIA or Saphira Additional Resources New ActivMedia Robotics Pioneer 2 and PeopleBot customers get three additional and valuable resources: ! A private account on our Internet server for software, updates, and manuals... -
Page 10: Newsgroups
Your message goes directly to the ActivMedia Robotics technical support team. There a staff member will help you or point you to a place where you can find help. Because this is a support option, not a general-interest newsgroup like pioneer-users, we reserve the option to reply only to questions about problems with your robot or software. -
Page 11: Chapter 2 Installation & Operation
ActivMedia Robotics Installation & Operation Chapter 2 The Pioneer 2 Arm’s control electronics and server software are factory installed, but the Arm is detached and shipped separately for safety. Mounting the Arm to Your Pioneer 2 Robot After carefully unpacking and inspecting the Arm, Pioneer 2 robot, and accessories for shipping damage, manually fold the Arm into its home position. -
Page 12: Power To The Arm
Power to the Arm Main power for the Pioneer 2 Arm is from both your robot’s Main Power and from the Arm power switch found on the DX/DXE side panel. On the Pioneer 2-AT, the Arm power switch is built into the back of the backpack. -
Page 13: Software
PC. Even so, P2OS also supports “pass-through” servers that transfer serial communications to and from the HOST and AUX ports directly, so that you may control your Pioneer 2 Arm with its generic command set, if you prefer. -
Page 14: Safety Watchdogs
Otherwise, the Arm might flop into an awkward and potentially damaging position when you remove power to its positioning servos. Similarly, P2OS automatically will send the Pioneer 2 Arm to its home position and remove power from its servos immediately following severance of a client-server connection. -
Page 15: Gripper Release Timer
Gripper Release Timer The Pioneer 2 Arm’s gripper servo can be subjected to overheating and stress while grasping an object and holding it for excessive periods of time. Accordingly, like the automatic shutdown timer, P2OS supports a special watchdog that automatically opens the gripper to its default home position after it has been closed for a FLASH-parameter set (GripperParkTimer) period of time. -
Page 16: Chapter 3 Programming
Control Mode; clear it for Servo Positioning commands. The next three most significant bits of the command byte (b select the board number; always 0 for the Pioneer 2 Arm. The remaining bits of the command byte depend on the command mode. -
Page 17: Generic Servo Positioning Mode Commands
To send generic control and servo-positioning commands from your client software to the Pioneer 2 Arm controller, you need to use the P2OS TTY2 command number 42 with an integer (two-byte) or string argument. This is necessary since all generic commands from your software to the Pioneer 2 Arm pass through your Pioneer 2’s HOST serial port and... -
Page 18: P2Os Arm Commands
Programming P2OS Arm Commands P2OS commands for control of the Pioneer 2 Arm originate in your client software and thereby require that you establish a client-server connection between your PC-based client software and the Pioneer 2 microcontroller-based P2OS. After connecting, your client software must tell the P2OS servers to power the Arm’s servos before you can send... -
Page 19: Arm_Info And Arminfopac
P2OS maintains detailed information about each servo-driven joint, as well as connection and power status with the Pioneer 2 Arm. Your client software may request that detailed information with the ARM_INFO command number 70, which P2OS responds to with an ARMINFOpac SIP. -
Page 20: Arm_Power
After establishing a client-server connection, you must command P2OS to have power enabled to the Pioneer 2 Arm’s servos in order to move its joints to positions other than home (sfRobotComInt(74,1), for example). If you tell P2OS to disable power to your Arm’s servos (74,0), or if your client disconnects from the P2OS servers when the servos... -
Page 21: Arm_Home And Arm_Park
ARM_HOME and ARM_PARK As described earlier, home is a safe and stable position for when the Pioneer 2 Arm servo motors come to rest. And, when switching servo power, the home position minimizes the drop when the Arm goes limp when powered OFF, as well as the “snap-to-position” jump characteristic of servo motors as each joint seeks its position when powered ON. -
Page 22: Saphira Plugin
Arm servos to their home positions, as they may do under other circumstances. Accordingly, your Pioneer 2 Arm may flop dangerously if it is not in its home position, and consequently flail erratically to its home position when its servos first get powered ON. So be very careful to have the Arm in its home position before you turn on your robot’s Main... - Page 23 ActivMedia Robotics Table 5. Saphira 6.2 Arm plugin functions Function Description void sfP2ArmInfo() Requests ARMINFOpac; initializes/updates Arm controller version string and Pos, Vel, Home, Min, Center, Max and TicksPer90Deg values for joints #1-6 void sfP2ArmStats(int repeat) Requests ARMpac for update of Good, Power, and joints 1-6 moving status, as well as their current positions.
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Page 24: Chapter 4 Arm Flash Parameters
In FLASH memory on your robot’s microcontroller, P2OS maintains six operating values for each of the six joints of your Pioneer 2 Arm. These include home, center, and maximum and minimum positions, default joint speeds, and ticks per 90 degrees. Home, of course, is the default, resting position for each joint mentioned often in previous chapters. -
Page 25: Configuring P2Os Operating Parameters
ActivMedia Robotics The command creates a p2os/ directory in the current path and stores the P2OS software there. An onboard radio modem typically interferes with P2OS download and reconfiguration. You may need to remove its connector from the Host serial port inside the robot on the microcontroller. -
Page 26: Step 5: Changing Configuration Parameters
Normally when it starts, p2oscf automatically retrieves the current identifying and operating parameters from your Pioneer 2 or PeopleBot robot. Some of the parameters, "Constants", are not to be changed. The others, "Variables", including the Pioneer 2 Arm parameters, are the ones that you may edit with p2oscf. -
Page 27: Editing P2Os Arm Parameters
? or help Displays commands and descriptions. To see an individual parameter's current value, type its keyword alone. To change a P2OS parameter's value, type its keyword followed by the replacement value. Table 9. Pioneer 2 Arm FLASH parameters Keyword Default Description... - Page 28 Cailbrated at the factory. ¥ With the Pioneer 2 Arm parameters, several relate each 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 ("0xN") numbers from 0 to 255, except speeds, which are constrained from 1 to 127.
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Page 29: Chapter 5 Maintenance & Repair
Chapter 5 There are no customer-serviceable parts on your Pioneer 2 Arm. Factory Repairs If, after reading this manual, you’re having hardware problems with your Pioneer 2 Arm and you’re satisfied that it needs repair, contact us: support@activmedia.com (603) 924-2184 (fax) -
Page 30: Specifications
Appendix A Appendix A Appendix A 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 P2 Gripper... -
Page 31: Index
Home ......6, 15 Operating System.... 1 Reset ....... 9 HOST port ......11 PeopleBot......1 safety....... 6 Installation ......5 Pioneer 2 Arm..... 1 Saphira plugin....16 Joints........1 Pioneer 2 Operating System servers......11 Konolige, Kurt ....1 ........10 software ...... -
Page 32: Warranty & Liabilities
Warranty & Liabilities Warranty & Liabilities Your ActivMedia robot and Pioneer 2 Arm are fully warrantied against defective parts or assembly for one year after being 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, such as by deliberate over-ride of the Arm’s... - Page 33 44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.activrobots.com...
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