Related Manuals for ActivMedia Robotics Pioneer 3
Summary of Contents for ActivMedia Robotics Pioneer 3
- Page 1 Pioneer 3™ Operations Manual with Renesas SH2-based Controller & ActivMedia’s Robot Control & Operations Software...
- 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, CD-ROM, and/or in the controller’s FLASH, which accompany the robot and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or licensed by ActivMedia Robotics, LLC.
- Page 3 Continuing to run the robot after hair, yarn, string, or any other items have become wound around the robot’s axles or wheels Opening the robot with charger attached and/or batteries inserted All other forms of inappropriate operation or care Use ActivMedia Robotics’ authorized parts ONLY; warranty void otherwise.
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Page 4: Table Of Contents
..........................7 IONEER EGACY Pioneer AT.............................. 8 Pioneer 2™ and PeopleBot™ ........................ 8 Pioneer 3™ and Recent Pioneer 2-DX8™, -AT8™, and Plus™ Mobile Robots........8 Pioneer 3™ SH Robots........................... 9 CHAPTER 3 SPECIFICATIONS & CONTROLS ................. 10 ..................10 HYSICAL... - Page 5 ActivMedia Robotics Operating the Onboard PC ........................21 PC Networking ............................21 UPS and Genpowerd ..........................22 CHAPTER 5 QUICK START........................24 ..........................24 REPARATIVE SSEMBLY Install ARIA ............................24 Install Batteries .............................25 Client-Server Communications ......................25 ......................25 TARTING LIENT AND ERVER Demo Startup Options ...........................25 A Successful Connection ........................26 ARIA D ..................26...
- Page 6 Enabling Maintenance Mode on the Controller ................... 49 ARCOS ..............................50 ARCOS ..........................50 TARTING ARCOS P ....................... 51 ONFIGURING ARAMETERS Interactive Commands .......................... 51 Changing Parameters........................... 51 ............................ 52 PID P ............................. 54 ARAMETERS ....................54 RIFT ACTOR ICKSMM OUNT ........................
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Page 7: Chapter 1 Introduction
Third-party accessories are warranted by their manufacturers, typically for 90 days. Even though we’ve made every effort to make your ActivMedia Robotics package complete, please check the components carefully after you unpack them from the shipping crate. -
Page 8: User-Supplied Components / System Requirements
One RS-232 compatible serial port or Ethernet Four megabytes of available hard-disk storage DDITIONAL ESOURCES New ActivMedia Robotics customers get three additional and valuable resources: A private account on our support Internet website for downloading software, updates, and manuals Access to private newsgroups... -
Page 9: Support
Tell us your robot’s SERIAL NUMBER. 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. -
Page 10: Chapter 2 What Is Pioneer
Software development includes our own foundation ActivMedia Robotics Interface for Applications (ARIA), released under the GNU Public License, and complete with fully documented C++, Java, and Python libraries and source code. Several third-party robotics applications development environments also have emerged from the research... -
Page 11: Ports And Power
ActivMedia Robotics All ActivMedia robots now use a revolutionary new, high-performance controller with ActivMedia’s Robot Control and Operations Software (ARCOS) based on the new- generation 32-bit Renesas SH2 microprocessor. This new P3-SH controller with completely renovated and improved code provides unprecedented performance and flexibility in robotics control. -
Page 12: Aria
Mapping, Navigation, and Localization ActivMedia Robotics’ also has a comprehensive suite of client tools and applications by which, with a laser range-finder enabled ActivMedia robot, you automatically create, edit, and use maps and floorplans for advanced robotics applications, including localization and navigation. -
Page 13: Maintenance And Standalone Modes
ActivMedia Robotics In conjunction with client software like ARIA running on an onboard or other user-supplied computer, ARCOS lets you take advantage of modern client-server and robot-control technologies to perform advanced robot tasks. Most users run their ActivMedia robot in server mode, because it gives them quick, easy access to its robotics functionality while working with high-level software on a familiar host computer. -
Page 14: Pioneer At
Pioneer 3™ and Recent Pioneer 2-DX8™, -AT8™, and Plus™ Mobile Robots Two new models of Pioneer 2 appeared in the summer of 2002, two more at the beginning of 2003, and the Pioneer 3 debuted in the summer of 2003. All used a... -
Page 15: Pioneer 3™ Sh Robots
ActivMedia Robotics (AROS) and I/O expansion capabilities. The Pioneer 3 and 2-Plus robots also had new, more powerful motor/power systems for better navigational control and payload. Pioneer 3™ SH Robots Hardware-wise, the latest Pioneer, PeopleBot™, and PowerBot™ robots—all introduced in summer of 2004—are identical to their predecessors except for their revolutionary new Renesas SH2-based controller. -
Page 16: Chapter 3 Specifications & Controls
With its powerful ARCOS server and ActivMedia Robotics client software, the Pioneer 3 is fully capable of mapping its environment, finding its way home, and performing other sophisticated path-planning tasks. -
Page 17: Deck
OTOR UTTON All Pioneer 3-AT and, upon request, some Pioneer 3-DX robots have a STOP button at the rear of their deck. Press and release it to immediately disengage the robot’s motor power. It will also cause a stall and can result in incessant beeping from the onboard piezo speaker (see User Controls below). -
Page 18: User Control Panel
Specifications & Controls ONTROL ANEL The User Control Panel is where you have access to the ARCOS-based onboard controller. Found inside the AT’s hinged access panel on the deck or on the left sidepanel of the DX, it consists of control buttons and indicators and an RS-232 compatible serial... -
Page 19: Power Switches
ActivMedia Robotics the onboard computer or an Ethernet-to-serial device. Either the SERIAL or HOST connector may be used for client-server and maintenance mode communication with the controller. To avoid communication conflicts, digital switching circuitry disables the internal HOST serial port if the attached serial device hasn’t opened the port. However, serial port interference will be a problem if the HOST and User Control SERIAL ports are both occupied and engaged. -
Page 20: Access Panels
Pioneer 3 sonar arrays are fixed: one on each side, and six facing outward at 20-degree intervals. Together, fore and aft sonar arrays provide 360 degrees of nearly seamless sensing for the platform. -
Page 21: Motors , Wheels , And Position Encoders
ATTERIES AND OWER Except when the DX is outfitted with the docking-charging system (see below), Pioneer 3 robots contain up to three, hot-swappable, seven ampere-hour, 12 volts direct-current (VDC) sealed lead/acid batteries (total of 252 watt-hours), accessible through a hinged and latched rear door. -
Page 22: Battery Indicators And Low Voltage Conditions
Specifications & Controls Battery Indicators and Low Voltage Conditions The User Control Panel has a bi-color LED labeled BATTERY that visually indicates current battery voltage. From approximately 12.5 volts and above, the LED glows bright green. The LED turns progressively orange and then red as the voltage drops to approximately 11.5 volts. -
Page 23: Chapter 4 Accessories
RIVE Although not all models come standard with an exposed joystick connector, your Pioneer 3 robot’s controller has a joystick port and ARCOS contains a joydrive server for manual operation. Start driving your robot with a joystick any time it is not connected with a client software program. -
Page 24: Docking -Charging Accessory
The charging mechanism and onboard power conditioning circuitry can be retrofitted to all Pioneer 3 and some Pioneer 2 and Performance PeopleBot robots. All require return to the factory. -
Page 25: Radio Controls And Accessories
ActivMedia Robotics your robot and its onboard systems without disturbing the battery charging cycle, if engaged. For example, with MAIN POWER on, use joystick mode to position the robot onto the charging platform. Then manually deploy the charging mechanism as described in the section above. -
Page 26: Integrated Pc
NTEGRATED Mounted just behind the nose of the robot, the Pioneer 3 integrated PC is a common EBX form-factor board that comes with up to four serial ports, 10/100Base-T Ethernet, monitor, keyboard, and mouse ports, two USB ports, and support for floppy, as well as IDE hard- disk drives. -
Page 27: Operating The Onboard Pc
This is a brief overview of operating the onboard PC. Please consult the Computer Systems Documentation and the OS manufacturer’s documentation for more detail. ActivMedia Robotics’ software runs on either Microsoft Windows® (currently Windows 2000®) or RedHat® or Debian Linux. Accordingly, we prefer (the latter, in particular) and support those OSes on the onboard PC. -
Page 28: Ups And Genpowerd
Accessories hubs or switches. No special configuration is required. We use the default operating mode: ‘managed’ client-server. We ship installed PC systems’ preset and tested at a fixed IP address with Class-C network configuration. We allocate the same IP to both the wired and wireless Ethernet ports, typically 192.168.1.32. - Page 29 ActivMedia Robotics and initiates OS shutdown after a short wait, during which the shutdown may be canceled by raising the battery voltage, such as by attaching a charger. Genpowerd monitors the HOST serial RI port on /dev/ttyS0. Windows®’ ups.exe requires a dedicated serial port—COM2 on current systems, and prefers to monitor the CTS line.
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Page 30: Chapter 5 Quick Start
CD-ROM with your new robot. They also come installed in your robot’s onboard PC, if you purchased this option. ActivMedia Robotics customers also may obtain ARIA and related software and updates from our support website: http://robots.activmedia.com When installed, ARIA typically requires 10 or more megabytes of hard-disk space. -
Page 31: Install Batteries
ActivMedia Robotics Install Batteries Out of the box, your ActivMedia robot comes with its batteries fully charged, although shipped separately, unless you have the special docking/charging system. Slide at least one and up to three batteries into the robot’s battery box through the back door. -
Page 32: A Successful Connection
Then, type a command line argument at the end of the text in the Run dialog. To connect through the Ethernet-to-serial radio device over the wireless network, for example, try the command: C:\Program Files\ActivMedia Robotics\ARIA\bin\demo.exe --remoteHost 192.168.1.32 Table 1. ARIA demo command line arguments --remoteHost <Host Name or IP>... -
Page 33: Disconnecting
ActivMedia Robotics on your keyboard or a joystick connected to the client PC’s joystick port (as opposed to a joystick port on the robot). While driving from the keyboard, hold down the respective keys to Table 2. ARIA demo operation modes... - Page 34 Quick Start Make sure your robot’s batteries are fully charged (battery LED green). The robot servers shut down and won’t allow a connection at under ShutdownVolts. ATTENTION! The ARIA-to-robot connection is SERIAL only. Accordingly, run the ARIA demo client with the onboard or piggyback computer, over radio modems, or over the network with the radio Ethernet-to-serial device.
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Page 35: Chapter 6 Arcos
ActivMedia robot via ActivMedia Robot Control Operations Software (ARCOS) client-server interface. The same ARCOS functions and commands are supported in the various Figure 17. ActivMedia Robotics’ client-programming environments that client-server control architecture accompany your robot or are available for separate license. -
Page 36: Packet Checksum
= c ^ (int)((unsigned char) myBuf[i]); return c; (from ActivMedia Robotics’ ARIA ArRobotPacket.cpp) NOTE: The checksum integer is placed at the end of the packet, with its bytes in the reverse order of that used for data; that is, b is the high byte and b is the low byte. -
Page 37: The Client -Server Connection
ActivMedia Robotics Because of the real-time nature of client-server mobile-robotics interactions, we made a conscious decision to provide an unacknowledged communication packet interface. Retransmitting server information or command packets typically serves no useful purpose because old data is useless in maintaining responsive robot behaviors. -
Page 38: Keeping The Beat-Pulse
ActivMedia’s Robot Control & Operations Software either do it manually (press the white MOTORS button on the User Control Panel) or have your client send an ENABLE client command #4 with an integer argument of 1. See Client Commands below). Keeping the Beat—PULSE An ARCOS safety watchdog expects that, once connected, your robot receives at least one client command packet from the attached PC every watchdog seconds, as defined... -
Page 39: Motion Commands
ActivMedia Robotics Table 4. ARCOS standard SIP contents NAME VALUE DESCRIPTION 2 bytes Exactly in order 0xFA (250), 0xFB (251) HEADER byte Number of data bytes + 2 (checksum), not including header or BYTE COUNT byte-count bytes 0x3s Motors status; s = 2 when motors stopped or 3 when robot TYPE moving. - Page 40 ActivMedia’s Robot Control & Operations Software and switch to independent wheel velocity- or translation/rotation-type controls when your client issues a command of the opposite type. Table 5. ARCOS client-side command set ARCOS DESCRIPTION COMMAND VERSION Before Client Connection none Start connection. Send in sequence. ARCOS echoes SYNC none synchronization commands back to client, and...
- Page 41 ActivMedia Robotics uint Request to retrieve 1-200 bytes from the AUX1 serial port; 0 GETAUX flushes the buffer. Stall robot if no (0), only front (1) while moving forward, only BUMP STALL rear (2) while moving backward, or either (3) bumpers contacted when robot moving in related direction.
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Page 42: Activmedia Robots In Motion
ActivMedia’s Robot Control & Operations Software Table 6. ARCOS motion commands Rotation (#12) Turn to absolute heading at SETRV max velocity HEAD (#13), Turn to heading relative to control point at SETRV max velocity DHEAD (#22) DCHEAD (#9) Rotate at SETRV velocity ROTATE Translation (#11) -
Page 43: Pid Controls
ActivMedia Robotics The orientation commands HEAD (#12), DHEAD (#13), DCHEAD (#22) turn the robot with respect to its internal dead-reckoned angle to an absolute heading (0-359 degrees), relative to its immediate heading, or relative to its current heading setpoint (achieved or last commanded heading), respectively. -
Page 44: Driftfactor, Revcount, And Ticksmm
ActivMedia’s Robot Control & Operations Software platform-independent millimeters and degrees in the standard SIP (Xpos, Ypos, and Thpos). aware that registration between external internal coordinates deteriorates rapidly with movement due to gearbox play, wheel imbalance and slippage, and many other real-world factors. -
Page 45: Enable/Disabling Sonar
ActivMedia Robotics Enable/Disabling Sonar Use the SONAR client command #28 to enable or disable all or individual sonar arrays. Set ("1") bit zero of the SONAR argument to enable or reset it ("0") to disable the sonar pinging. Set argument bits two through four to an individual array number one through four to enable or disable only that array. -
Page 46: Accessory Commands And Packets
ACKETS Several types of alternative server information packets (SIPs) come with ARCOS to better support the ActivMedia Robotics community. On request from the client by a related ARCOS command, the ARCOS server packages and sends one or a continuous stream of information packets to the client over the HOST serial communication line. - Page 47 ActivMedia Robotics the CONFIGpac to examine many of your robot’s default FLASH_based settings and their working values, where appropriate, as changed by other client commands, such as SETV and ROTKV. Table 8. CONFIGpac contents LABEL DATA DESCRIPTION Common packet header = 0xFAFB...
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Page 48: Serial
Checksum integer Checksum for packet integrity UZZER OUNDS Pioneer 3 robots have a piezo buzzer on the User Control Panel that aurally notifies you of system conditions, such as low batteries or stalls. For stealthy operation, issue the... -
Page 49: Tcm2
ActivMedia Robotics SOUNTOG command #92 with an argument of zero to mute the controller’s buzzer or argument of one to re-enable it. (See also the SOUNDTOG FLASH parameter in the next chapter to set its default state.) The SAY command #15 lets you play your own sounds through the buzzer. The argument consists of a length-specified string of duration,tone pair bytes. -
Page 50: Input Output (I/O)
ActivMedia’s Robot Control & Operations Software Change a registry value so that the PC shuts down one minute instead of two minutes after low-power notification by the controller: Use regedit and navigate to [HKEY_LOCAL_MACHINE\SYSTEM\ControlSet001\Services\UPS\Config. Change the ShutdownOnBatteryWait dword value to 1 (from 2). Use the ARCOS client maintenance command #250 to test your genpowerd or ups.exe setup. -
Page 51: Heading Correction Gyro
Computed checksum CHECKSUM User I/O The User I/O connector on the Pioneer 3 controller contains eight digital input and eight digital output ports, as well as an analog-to-digital (A/D) port. The bit-mapped states of the sixteen digital ports and analog port automatically and continuously appear in the standard SIP, in their respective DIGIN, DIGOUT, and ANALOG bytes. -
Page 52: Bumper And Ir I/O
5 integers A/D ports 0-7 input values at 10- varying 0-1023 bit resolution = 0-5 VDC 0-1023 Battery A/D input (AN3 Pioneer 3) BATTERY varies Computed checksum CHECKSUM * Actual, not affected by InvertBumps since bumper bits may be used for other digital input besides bumpers. -
Page 53: Digital Port Controls
ActivMedia Robotics Digital Port Controls When set digital high (1), the "inhibit" port OD4 on pin 10 of the User I/O connector (see Appendix A) causes the charging mechanism to disengage and retract from the charging platform and inhibits its future deployment. The "deploy" port OD5 pin 12, when set high with port OD4 low, deploys the charging mechanism with full force to seat it onto the charging platform. -
Page 54: Monitoring The Recharge Cycle
ActivMedia’s Robot Control & Operations Software Your client software may disengage and re-engage the client-server connection without disrupting recharging, as long as the robot remains positively engaged with the charging platform and you don't do anything else to otherwise disrupt recharging. Once disengaged from the client, the rules for engaging and disengaging the recharge mechanism and power manually apply. -
Page 55: Chapter 7 Updating & Reconfiguring Arcos
Automatic If for any reason your robot’s FLASH parameters get erased or your ARCOS software encounters a code fault, your Pioneer 3 controller automatically reverts to ARSHstub- based Maintenance Mode. Or, if you attach a PC to the SERIAL port on the User... -
Page 56: Arcos Cf
Include each of the selected ARCOScf’s startup-mode options as a key letter with a dash (“-“) prefix, followed by any required arguments, separated by spaces. For example, to start up ARCOScf and make a connection with a serial port other than the default COM1 or ttyS0: C:\Program Files\ActivMedia Robotics\ARCOS> ARCOScf –p COM3... -
Page 57: Configuring Arcos Parameters
ActivMedia Robotics Similarly, this Linux xterm command uploads a fresh copy of ARCOS to your robot’s controller and then exits, much like the simple dl_ARCOS1_0 program: % ./ARCOScf –d ARCOS1_0.mot –n -b Table 15. ARCOScf startup options ARGUMENT DESCRIPTION command... -
Page 58: Save Your Work
FLASH inadvertently erased. Default parameter files come with each ARCOS distribution, but it is tedious to reconstruct an individual robot’s unique configuration. Table 17. ARCOS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type... - Page 59 ActivMedia Robotics battery charge falls below this value. In 1/10 volts; controller disconnects client SHUTDOWNVOLTS and signals onboard PC to shutdown when battery charge falls below this value. byte Baud rate for client-server HOST serial: HOSTBAUD 0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k, 4=115.2k.
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Page 60: Pid Parameters
Updating and Reconfiguring ARCOS PID P ARAMETERS The ARCOS configuration parameters include settings for the PID motor controls for translation and rotation of the robot. The translation values also are used for independent-wheel mode. The default values are for a lightly loaded robot. Experiment with different values to improve the performance of your robot in its current environment. -
Page 61: Stall Val And Stall Count
ActivMedia Robotics respective ARIA client parameters have many conversion factors like DistConvFactor set to 1.0. TALL AL AND TALL OUNT An ARCOS stall monitor maintains a running average of PWM values for each wheel over a 500 millisecond integration period. PWM values get added to the sum if the wheel speed is below 100 mm/sec. -
Page 62: Chapter 8 Calibration & Maintenance
Your ActivMedia robot is built to last a lifetime and requires little maintenance. NFLATION Maintain even tire inflation for proper navigation of your Pioneer 3-AT. We ship with each pneumatic tire inflated to 23 psi. If you change the inflation, remember to adjust the driftFactor, ticksMM, and revCount FLASH values. -
Page 63: Drive Lubrication
ActivMedia Robotics RIVE UBRICATION Pioneer 3 drive motors and gearboxes are sealed and self-lubricating, so you need not fuss with grease or oil. An occasional drop or two of oil on the axle bushings between the wheels and the case won’t hurt. And keep the axles clear of carpet or other strings that may wrap around and bind up your robot’s drive. -
Page 64: Automated Docking/Charging System
(up to 5A) for operation of all onboard systems. The charging mechanism and onboard power conditioning circuitry can be retrofitted to all Pioneer 3 and some Pioneer 2 and PeopleBot robots. All require return to the factory. Alternative Battery Chargers The center post of the charger socket is the positive (+) side of the battery;... -
Page 65: Getting Inside
REMOVE THE BATTERIES FIRST! We describe here how to remove your robot’s nose to get at the onboard computer. And we describe how to access the contents of the body of your Pioneer 3 robot. Removing the Nose The Pioneer 3-DX and –AT onboard computer sits just behind the robot’s... -
Page 66: Opening The Deck
Calibration & Maintenance Opening the Deck All Pioneer 3 robots have a center hinge in the deck which let you easily open and access internal components without completely removing the top plate. Simply remove the indicated 3mm screws shown in the Figures nearby from the section of the deck that you want to access. -
Page 67: Controller Ports & Connections
SH2-based controller for the Pioneer 3, PeopleBot, and PowerBot, including motor- Figure 24. Mini- and power interface and User Control boards. micro-fit style connector numbering Note... -
Page 68: Serial Ports
Appendix A: Controller Ports and Connections Serial Ports One DSUB-9 and three 5-position microfit sockets provide the HOST and Aux1-Aux3 auxiliary serial ports for the SH2 controller. All are RS-232 compatible. The HOST port is shared on the User Control Panel’s SERIAL port and is for ARCOS client-server and maintenance connections. -
Page 69: Motors, Encoders, And Ir Sensors
ActivMedia Robotics docking/charging “inhibit” DIGIN bit 5; DIGOUT bit 5; Right paddle Automated contact docking/charging “deploy” DIGIN bit 6; DIGOUT bit 6; Automated User only docking/charging ”power good” DIGIN bit 7; DIGOUT bit 7; Automated User only docking/charging ”overcharge” *AN0 A/D port 0 5VDC <... -
Page 70: User Control Board Interface
Appendix A: Controller Ports and Connections Table 25. Bumper ports (10-pos latching IDC) SIGNAL DESCRIPTION SIGNAL DESCRIPTION Bumper bit 0 Bumper bit 1 Bumper bit 2 Bumper bit 3 Bumper bit 4 Bumper bit 5 Bumper bit 6 Bumper bit 7 Common Common User Control Board Interface... -
Page 71: C Interface
ActivMedia Robotics Table 29. Tilt/roll accessory connector SIGNAL DESCRIPTION SIGNAL DESCRIPTION 5 VDC power XAXIS Pitch AN4 YAXIS Roll AN5 AGND Analog gnd Power gnd C Interface A six-position microfit contains the signals and power to interface with I C bus-enabled devices, such as the 4-line x 20-character LCD accessory. -
Page 72: Motor -Power Board
Appendix B Motor-Power Distribution Board ActivMedia Robotics’ original Pioneer 2 robots had two separate boards which interface with their respective controller to provide power for the motors as well as conditioned power and signal paths for the standard and accessory onboard electronics. Pioneer 3s have just a single Motor-Power Board. -
Page 73: Controller Power And Interface
ActivMedia Robotics Table 31. Motor Temperature Sensors Connector (4-pos microfit) SIGNAL DESCRIPTION 5 VDC To AN2-based temp sensor circuit To AN1-based temp sensor circuit Signal/power common Otherwise, a jumper across R76 connects the AN1 port to the fan sensor system that is attached to the FET heat sink. -
Page 74: Ir Signal And Power
Appendix B: Motor-Power Distribution Board Table 35. User Power connector (12-pos latchlock; unswitched) CONNECTION CONNECTION IR Signal and Power Four connectors provide power and signal for fixed-range IR sensors. A separate connector provides signal path for an additional four IR sensors. Table 36. -
Page 75: Ethernet - To -Serial Device Settings
ActivMedia Robotics Appendix C THERNET ERIAL EVICE ETTINGS The Ethernet-to-Serial device settings are made at the factory and stored in the device FLASH. Pressing and holding the test button for more than five seconds restores those factory settings. Server name... -
Page 76: Console Mode
Appendix D: Serial Ethernet Settings Console mode: 1. Power off. 2. Attach a cross-over serial cable between your PC and the serial port on the device. 3. Start minicom (Linux), HyperTerminal (Windows®) or comparable serial console on your PC. 4. Serial settings are 115,200 baud, 8 bits, one stop, no parity, and hardware handshaking. -
Page 77: Specifications
ActivMedia Robotics Appendix D PECIFICATIONS Performance PeopleBot Pioneer 3-DX Pioneer 3-AT Physical Characteristics Length (cm) 44.5 50.1 Width (cm) 39.3 49.3 Height (cm) 23.7 27.7 Clearance (cm) Clearance bumpers (cm) Weight (kg) Payload (kg) Power Batteries 12VDC lead-acid Charge (wtt-hrs) Run time (hrs) 8–10... - Page 78 Appendix D: Specifications Sensors Performance PeopleBot Pioneer 3-DX Pioneer 3-AT Sonar Front Array (one each side, 8 optional six forward @ 20° intervals) Rear Sonar Array (one each side, 8 optional 8 optional six rear @ 20° intervals) Top Deck Sonar...
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Page 79: Warranty & Liabilities
ActivMedia Robotics products in any way. They shall bear no responsibilities or liabilities for any operation or application of the robot, or for support of any of those activities. - Page 81 19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.MobileRobots.