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Related Manuals for ActivMedia Robotics Pioneer Gripper
Summary of Contents for ActivMedia Robotics Pioneer Gripper
- Page 1 Pioneer Gripper...
- Page 2 ActivMedia Robotics. The software on disk and on the controller FLASH, which accompany the Pioneer Arm and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or are licensed products distributed by ActivMedia Robotics.
- Page 3 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 ActivMedia Robotics’ authorized parts ONLY; warranty void otherwise.
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Page 4: Table Of Contents
RIPPER ACKAGE Package Components ............................1 User Supplied Components ..........................1 ............................1 DDITIONAL ESOURCES Software................................1 Newsgroups .................................2 Support ................................2 CHAPTER 2 THE PIONEER GRIPPER .......................3 ...............................3 PECIFICATIONS CHAPTER 3 INSTALLATION AND TESTING....................5 1: R ............................5 EMOVE OWER 2: L ....................5 OOSEN OR... -
Page 5: Chapter 1 Introduction
ActivMedia mobile robots. This Pioneer Gripper Manual provides the general and technical details you will need to install and operate the Gripper accessory on your Pioneer 3 or 2 mobile robot (DX and AT models). -
Page 6: Newsgroups
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 7: Chapter 2 The Pioneer Gripper
In its fully down and open state, the two 3cm (1.5 inch) tall by 9.5cm (3.5 inch) deep Pioneer Gripper paddles, each with 2mm soft-foam pads on the inside, open to 21.5cm (8.4 inches) apart and ride 2.4cm (1.2 inches) off the floor with the DX or just 1cm (0.25... - Page 8 inches) off the floor with the AT models. The paddles extend out from Pioneer’s main body 11cm (5 inches) beyond the top deck’s edges. The paddles close horizontally until they grasp an object or close on themselves. The grasping pressure is under software control and varies between 200g (0.5 lbs ) and 2kg (5 lbs).
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Page 9: Chapter 3 Installation And Testing
Please read through this chapter carefully before you attempt to attach the Pioneer Gripper to your robot. If for any reason you do not wish to perform the work yourself, contact ActivMedia Robotics and make arrangements to have the assembly installed at the factory. -
Page 10: Step 4: Install Power And Control Cables
Installation Figure 4. Rear deck screws for the Pioneer 2 robots 4: I NSTALL OWER AND ONTROL ABLES Start from the front of the robot and route the Gripper’s signal and power cables to their respective locations in the body: the signal cable to the controller board and the power cable to power terminals on the battery board. -
Page 11: Step 6: Attach The Gripper
Pioneer 3 robots, or ARCOScf(.exe) for all SH2-/ARCOS-based Pioneer 3 robots. If the program is not already installed in /usr/local/ (Linux) or in C:\Program Files\ActivMedia Robotics\ (Windows®) on your onboard PC, find and install the proper configuration tool from the CDROM that came with your robot, or a copy you... -
Page 12: Troubleshooting
EST THE RIPPER Time to test your new Pioneer Gripper. Start your client PC, either onboard or attached to your robot’s controller through the SYSTEM serial port on the User Control Panel. If you had just performed Step 6, press RESET once to restart the controller. - Page 13 Pioneer Gripper Next, does the ARIA demo program display apparently valid Gripper sensor readings? For example, do the paddle switches indicate closed when they are closed, and open when they are open? And do the breakbeam IRs work? If so, it is likely that the Gripper power cable has become disconnected either from the Gripper control board or from the battery board connection.
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Page 14: Chapter 4 Operation And Programming
Gripper Operation and Programming Chapter 4 The Pioneer Gripper comes fully integrated with your Pioneer 2 and 3's systems and software. All ActivMedia Robotics’ controller-embedded software contain servers that support state-based control routines that manage the Gripper functions for you. These include the latest Renesas SH2-based ARCOS, Hitachi H8S-based AROS, and Siemens C166-based P2OS Pioneer 2 and 3 controllers. -
Page 15: Client Command Set
Pioneer Gripper automatically to a connected client every client-server cycle, as well as in the client- requested IOpac SIP. See your Pioneer Operations Manual for more details. Table 2. User I/O DIGIN bits and meaning when attached by the Gripper... - Page 16 voltage, and a variety of other factors. Under no-load and otherwise normal conditions, assume approximately two centimeters per second of travel. Table 3. AROS Gripper Client Command Set COMMAND ARGUMENT LABEL ACTION GRIPopen Open Gripper paddles GRIPclose Close Gripper paddles; grasp pressure regulated by command #16 GRIPstop Stop Gripper paddles...
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Page 17: Aria Gripper Support
A good place to start is in the ARIA examples/ directory. Look for the It uses the ArGripper and ArGripperCommands C++-language gripperDemo.cpp. classes to set up and operate the Pioneer Gripper. Find detailed documentation of those classes, as well as the entire ARIA suite, in the ARIA Reference manuals. -
Page 18: Chapter 5 Maintenance & Repair
Maintenance & Repair Chapter 5 The Pioneer Gripper is built to last a lifetime and requires little maintenance. RIVE UBRICATION An occasional drop or two of oil on the guide rails is a very good idea. Place some thin, household oil on a Q-Tip or similar applicator, and rub along the rails. Then start up the Pioneer to exercise the Gripper and spread the lubricant. -
Page 19: Server Information Packet
If Sonar Count>0, is sonar disc number 0-31; reading follows NUMBER ‡ Sonar range value; multiply by RangeConvFactor RANGE … … REST OF THE SONAR READINGS Pioneer Gripper state byte GRIP STATE BYTE Selected analog port number 1-5 ANPORT BYTE User Analog input (0-255=0-5 VDC) reading on selected port... -
Page 20: Port
Appendix B Chapter 7 I/O-G RIPPER Note that all the internal connectors on the robot’s controller and the Gripper signal connector (IDC sockets) are numbered odd pins on top and even pins on the bottom, from right to left, relative to the key: Figure 6. - Page 21 Pioneer Gripper Figure 8. Location of the User I/O-Gripper port on the C166-/P2OS-based original Pioneer 2 controller board. Table 6. User I/O-Gripper signals SIGNAL DESCRIPTION SIGNAL DESCRIPTION OD0; ID0; Gripper enable Paddles open limit OD1; ID1; Gripper direction Lift limit OD2;...
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Page 22: 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 23 19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.activrobots.com...