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Related Manuals for ActivMedia Robotics Performance PeopleBot
Summary of Contents for ActivMedia Robotics Performance PeopleBot
- Page 1 Performance PeopleBot™ Operations Manual with Hitachi H8S-based Controller Plus Motor-Power Board & ActivMedia Robotics Operating System Software 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 microcontroller’s FLASH, which accompany...
- 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
YSTEM OFTWARE ........................6 OTOR OWER OARD ............................6 LIENT OFTWARE ActivMedia Robotics Basic Suite ......................7 ARIA ............................... 7 Saphira ..............................8 ACTS............................... 8 Laser Navigation and Localization......................8 ..........................8 IONEER EGACY Pioneer 1 and AT............................ 8 Pioneer 2 and PeopleBot ........................9 New Performance PeopleBot Plus...................... - Page 5 PEECH EMONSTRATION speechSimple ............................28 goPing ..............................28 ARIA Speech Troubleshooting.......................29 CHAPTER 5 JOYDRIVE AND SELF-TESTS ..................30 ............................30 OYDRIVE ..........................31 NGAGING ESTS CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM.............32 ................32 LIENT ERVER OMMUNICATION ACKET ROTOCOLS Packet Checksum...........................33 Packet Errors ............................33 .......................34 ERVER NFORMATION ACKETS ...........................35...
- Page 6 ............................ 54 PID P ............................. 54 ARAMETERS ........................56 ICKSMM AND EVCOUNT ........................57 TALL AL AND TALL OUNT ..............................57 UMPERS CHAPTER 8 MAINTENANCE & REPAIR.................... 58 ............................58 NFLATION ..........................58 RIVE UBRICATION ..............................58 ATTERIES Changing Batteries ..........................58 Hot-Swapping the Batteries ........................
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Page 7: Chapter 1 Introduction
PeopleBot Operations Manual provides both the general and technical details you need to operate your new Performance PeopleBot Plus™ mobile robot with its new Hitachi H8S-based microcontroller and motor-power system, and to begin developing your own robotics hardware and software. -
Page 8: Additional Resources
Congratulations DDITIONAL ESOURCES New ActivMedia Robotics customers get three additional and valuable resources: A private account on our Internet server for software, updates, and manuals Access to private newsgroups Direct access to the ActivMedia Robotics technical support team Support Website... - Page 9 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.
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Page 10: Chapter 2 What Are Pioneer And Peoplebot
What Are Pioneer and PeopleBot? Chapter 2 The Performance PeopleBot™ is an intelligent mobile robot specially designed and equipped for human- robot interaction research applications. It is member of the Pioneer family of mobile robots, which research development platforms that... -
Page 11: Pioneer Family Of Microcontrollers And Operating System Software
AROS—are upwardly compatible. Accordingly, client software written to operate a six-year old Pioneer AT will work with your brand new Performance PeopleBot. We’ve taken great care to have all client commands for control of that original Pioneer 1 work identically in our latest robots. -
Page 12: Plus Motor -Power Board
LIENT OFTWARE At its most basic level, your Performance PeopleBot operates as the server in a client- server environment: Its drive system, integrated sensors, and microcontroller handle the low-level details of mobile robotics, including maintaining the platform’s drive speed and heading over uneven terrain, acquiring sensor readings, such as from the sonar and encoders, and managing attached accessories like the PTZ camera and Gripper. -
Page 13: Activmedia Robotics Basic Suite
AmigoBot different audio-based personalities. ARIA The ActivMedia Robotics Interface for Applications (ARIA) is a C++-based open-source development environment that provides a robust client-side interface to a variety of intelligent robotics systems, including your ActivMedia robot’s microcontroller and accessory systems, such as the ARIA Speech Recognition and Synthesis Package for your Performance PeopleBot’s sound system. -
Page 14: Saphira
SRI International’s Artificial Intelligence Center. Saphira and its ARIA foundation form the robotics-control and applications-development foundation for much of the ActivMedia Robotics Basic Suite and many other ventures. The complete, licensed Saphira robotics development environment, including C/C++ libraries, GUI interface... -
Page 15: Pioneer 2 And Peoplebot
Indeed, in most respects, particularly with applications software, Pioneer 2 works identically to Pioneer 1 models. The ActivMedia Robotics Pioneer 2 models DX, DE, DXe, DXf, and AT, and the V1 and original Performance PeopleBot robots use a high-performance 20-MHz Siemens 88C166- based microcontroller, with independent motor/ power and sonar-controller boards for a versatile operating environment. -
Page 16: Modes Of Operation
AROS. To the relief of those who have invested years in developing software for Pioneer 1 and Pioneer 2, the Performance PeopleBot truly does combine the best of the new mobile robot technologies with the tried-and-true Pioneer architecture. -
Page 17: Joydrive And Self Test Modes
ActivMedia Robotics values on startup or reset. See Chapter 7, Updating & Reconfiguring AROS, for much more detail. We typically provide the maintenance utilities and AROS upgrades free for download from our http://robots.activmedia.com website, so be sure to sign up for the pioneer- users email newslist. -
Page 18: Chapter 3 Specifications & Controls
In spite of its height, however, Performance PeopleBot, like comparable Pioneer mobile robots, has a small footprint and turn radius, and it is lightweight (29 kg with three batteries). -
Page 19: Struts And Decks
TRUTS AND ECKS Performance PeopleBot’s decks are simply the flat surfaces top and bottom for mounting projects and accessories, such as the laser range finder. A feed-through hole in the center of the top plate, and a rectangular one beneath a removable plug in the middle of the bottom deck let you conveniently route cables to the interior of the robot. -
Page 20: Body And Nose
Balance the batteries in your robot. Battery life, of course, depends on the configuration of accessories and motor activity. Your Performance PeopleBot runs continuously for four hours or more with onboard computer. When hot-swapping, remove and replace one at a time. -
Page 21: Motors . Wheels , And Position Encoders
Inflate the tires evenly or your robot won’t drive properly. Performance PeopleBot comes with pneumatic tires so that you may configure your robot for differing terrains. In any configuration, however, be careful to inflate the tires evenly and adjust the respective Ticksmm and revcount FLASH parameters for proper operation. -
Page 22: Protective Ir S , Bumpers And Emergency Stop
UMPERS MERGENCY Performance PeopleBot has two types of integrated IRs: fixed-range and breakbeam. The robot’s fixed-range sensors are very reliable, diffuse-IR detectors mounted to the front of the robot on each side and which detect obstacles, particularly tabletops or rope barriers, that otherwise aren’t detected by the sonar. -
Page 23: User Control Panel
ActivMedia Robotics The Performance PeopleBot also has a large, Emergency STOP button prominently positioned on the left strut just beneath the upper deck. When pressed, button brakes disengages the motors and signals a stall. A separate digital sense line to the... -
Page 24: Integrated Pc
RESET button, then release MOTORS. In the future, the white MOTORS button may engage other modes, such as when in AROS standalone mode. NTEGRATED The Performance PeopleBot comes standard with an onboard, internally integrated PC to act as the client platform in the robot’s client-server architecture. -
Page 25: Pc Control Panel
The PWR LED lights when the computer has power. The HDD LED lights when the onboard PC accesses the hard-disk drive. The RESET button warm-restarts the PC. Operating the Onboard PC This is a brief overview of operating Performance PeopleBot’s onboard PC. Please consult Computer Systems Documentation manufacturer’s... -
Page 26: Radio Ethernet And Pc Networking
Radio Ethernet and PC Networking The RJ-15 connector on the Computer Control Panel provides wired 10/100Base-T Ethernet networking directly with the onboard PC. With the Performance PeopleBot, we also install a PCMCIA adaptor card on the PC’s accessory stack and insert a Lucent Orinico 10GHz 11Mbps (802.11b) wireless Ethernet card in one of its slots. -
Page 27: Ups And Genpower
OLOR AMERA AND YSTEMS Performance PeopleBot’s color video camera complete with 16X zoom lens comes on a programmable robotic pan-tilt base. The unit is attached underneath the robot’s top deck and tilts fully down (-90 degrees) to inspect Gripper contents or progressively up to 30 degrees to view people’s faces and other room features. -
Page 28: Sound System
YSTEM In the original Performance PeopleBots, a PC104 sound card provided audio input and output. Current Performance PeopleBot Plus robot use the embedded PC’s integrated sound system with accessory amplifiers for voice synthesis and recognition systems, among other effects. The card provided a minimum five watts, whereas the new system provides greater than 15 watts in two channels (stereo) output to the speakers that are integrated at the top of the struts. -
Page 29: Safety Watchdogs
ATCHDOGS Besides the protective fixed-range and breakbeam IRs, and the protective bumpers fore and aft described earlier in this chapter, your Performance PeopleBot’s AROS also contains a client-server communication watchdog that will halt the robot’s motion if the connection between your PC client and the robot server is disrupted for a set time interval, nominally two seconds (watchdog parameter). -
Page 30: Chapter 4 Quick Start
Otherwise, you will damage the robot. RIVE Position your Performance PeopleBot on the floor in an open space, or up on blocks if you have attachments to the Computer Control Panel. Slide the Main Power (computer power switch off) switch to ON. -
Page 31: Aria Demonstration Programs
ActivMedia Robotics Now press the white MOTORS button twice to engage the motor self-test. If your robot is working properly, it should move or rotate the wheels in four brief, but distinctive turns, forward and back, left and right. If not, please contact support@activmedia.com... -
Page 32: A Successful Connection
ARIA-client to AROS-server communications, too. Operating the ARIA Demonstration Client When connected with the ARIA demo client, your Performance PeopleBot becomes responsive and intelligent. For example, it moves cautiously: Although it may drive toward an obstacle, your robot will not crash because the ARIA demo includes obstacle- avoidance behaviors which enable it to detect and actively avoid collisions. -
Page 33: Disconnecting
A common mistake with Linux is not having the proper permissions on the connecting serial port, typically /dev/ttyS0 should be rw for the current user. Make sure your Performance PeopleBot’s batteries are fully charged (battery LED green). The robot servers shut down and won’t allow a connection at under approximately 11 volts. -
Page 34: Aria Speech Demonstration
PEECH EMONSTRATION The ARIA Speech Recognition and Synthesis Package comes with two, text-based demonstration programs, which will allow you to test your Performance PeopleBot’s ability to respond to and obey voice commands. speechSimple The speechSimple demonstration program is a tool which allows you to issue voice commands to your Performance PeopleBot and monitor its acknowledgement of those commands. -
Page 35: Aria Speech Troubleshooting
PC’s sound controls (Control Panel Sounds and Multimedia under Windows, or aumix with Linux). If your Performance PeopleBot is Listening... to noises in the environment other than your voice commands, decrease the microphone volume . -
Page 36: Chapter 5 Joydrive And Self-Tests
Joydrive and Self-Tests Chapter 5 Your Performance PeopleBot comes with joystick connector on the back of the top deck, and AROS contains a joydrive server for manual operation of the robot. AROS also comes with a short self-test routine for your robot’s drive system. -
Page 37: Engaging Self -Tests
Place your robot on the floor or ground and have everyone step back before engaging self-tests. Currently, the only AROS self-test exercises your Performance PeopleBot’s drive motors. During this test, the robot is not at all conscious of bystanders. Please have everyone step back and remove any obstacles from within a diameter of four to five feet around before engaging the self-test. -
Page 38: Chapter 6 Activmedia Robotics Operating System
This chapter explains how to communicate with and control your ActivMedia robot via the ActivMedia Robotics Operating System Figure 14. ActivMedia Robotics (AROS) client-server interface. The same... -
Page 39: Packet Checksum
ActivMedia Robotics Data types are simple and depend on the element (see descriptions below): client commands, SIP types, and so on, are single 8-bit bytes, for example. Command arguments and SIP values may be 2-byte integers, ordered as least-significant byte always first. -
Page 40: Erver Nformation Ackets
Pioneer 2 Operating System examining those values in respective SIPs, client software may detect ignored commands and re-issue them until achieving the correct state. ERVER NFORMATION ACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly sends a packet of information over its HOST serial port to a connected client. The standard AROS SIP informs the client about a number of operating states and readings, using the order and data types described in the nearby Table. -
Page 41: Client Commands
ActivMedia Robotics LIENT OMMANDS AROS has a structured command format for receiving and responding to directions from a client for control and operation of your ActivMedia robot or the Simulator. Client commands are comprised of a one-byte command number optionally followed, if required by the command, by a one-byte description of the argument type and the argument value. - Page 42 Pioneer 2 Operating System Request one (1), a continuous stream (>1), or stop – ENCODER (0) encoder SIPs ╪ Sint Rotate at (+) counter- or (–) clockwise; RVEL degrees/sec Sint Heading setpoint relative to last setpoint; DCHEAD ± degrees (+ = ccw) Sint Rotational (+)acceleration or SETRA...
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Page 43: The
ActivMedia Robotics Change working rotation Integral PID value (not – ROTKI FLASH default) Change working translation Proportional PID – TRANSKP value (not FLASH default) Change working translation Derivative PID value – TRANSKV (not FLASH default) Change working translation Integral PID value –... -
Page 44: Opening The Servers-Open
Pioneer 2 Operating System own operating parameters. ARIA, for instance, loads and uses the robot’s related parameters file found in the special Aria/params directory. Opening the Servers—OPEN Once you’ve established a connection with AROS, your client should send the OPEN command #1 (no argument;... -
Page 45: Motion Commands
ActivMedia Robotics OTION OMMANDS The AROS motor-control servers accept several different client-motion commands of two mutually exclusive types: either independent-wheel or platform translation/rotation movements. The AROS servers automatically abandon any translation or rotation setpoints and switch to independent wheel-velocity controls when your client issues the independent-wheel VEL2 command #32, and vice versa. -
Page 46: Pid Controls
Figure 15. ActivMedia robots trapezoidal velocity profile Note that the emergency stop (E_STOP) command number 55 and the Emergency STOP button on your Performance PeopleBot override deceleration and immediately stop the robot in the shortest distance and time possible. Accordingly, the robot brakes to zero... -
Page 47: Position Integration
0 to 10 for lightly to heavily loaded robots respectively. Position Integration ActivMedia robots, including your Performance PeopleBot, track their position and orientation based on dead-reckoning from wheel motion derived from encoder readings. The robot maintains its internal coordinate position in platform-dependent units, as reported in the standard SIP (Xpos, Ypos, and Thpos). -
Page 48: Stalls And Emergencies
Like BUMPSTALL, use AROS’ built-in E_STALL feature to simulate a stall when someone presses your Performance PeopleBot’s Emergency STOP button. An integrated switch in the button toggles a dedicated digital I/O port (Port A, bit 3) on the microcontroller and... -
Page 49: Accessory Commands And Packets
Several types of alternative server information packets (SIPs) come with AROS to better support the ActivMedia Robotics community. On request from the client by a related AROS command, the AROS server packages and sends one or a continuous stream of information packets to the client over the HOST serial communication line. -
Page 50: Aux Port Communications
Pioneer 2 Operating System Maximum rotational velocity; deg/sec Maximum translation speed; mm/sec RANS Maximum rotation (de)acceleration; deg/sec Maximum translational (de)acceleration; mm/sec RANS Maximum motor PWM (500=fully on). Unique name given to your robot. byte Server information packet cycle time byte Baud rate for client-server HOST serial: 0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k, 4=115.2k. -
Page 51: Encoder Packets
Unlike its ActivMedia robot cousins, the AmigoBot mobile robot has onboard sound reproduction hardware and software that includes a playlist of contents. To support the ActivMedia Robotics Basic Suite that includes all ActivMedia’s robots, we’ve included the PLAYLISTpac (type = 208; 0xD0) and PLAYLIST request command 91 in AROS. We document the command and packet here for completeness, but they have no effect on the operation or performance of your ActivMedia mobile robot. -
Page 52: Tcm2
(I/O) NPUT UTPUT Your Performance PeopleBot comes with a number of I/O ports that you may use for sensor and other custom accessories and attachments. Appendix A for port locations and specifications. -
Page 53: User I/O
The User I/O connector on the H8S microcontroller contains sixteen total digital input/output ports, as well as an analog-to-digital (A/D) port. Four of the output ports and six input ports are used by the Gripper accessory of the Performance PeopleBot. See below. -
Page 54: Gripper
IOpac packets. RIPPER The Performance PeopleBot’s Gripper is connected to the User I/O port from which your client may directly control the various Gripper functions and read its sensors using the native AROS commands that manage the User I/O digital input and output ports. For example, to lift the Gripper you may set the appropriate output control output bits on the User I/O port with the AROS DIGOUT command number 30. -
Page 55: Gripperval Gripper Values
ActivMedia Robotics When used by client software, AROS' Gripper servers monitor and report the accessory’s progress towards and achievement (or lack) of a state, saving you coding time and effort. And the servers include a timeout feature to protect against unfortunate stalls or hang-ups. -
Page 56: Liftcarry
Pioneer 2 Operating System LIFTCarry The LIFTcarry command and required carry_time operating parameter let you use the Gripper to lift or lower an object some distance between the top and bottom of the lift's limits. The grip_carry distance is time-based, since there are no travel-encoders attached. -
Page 57: Chapter 7 Updating & Reconfiguring Aros
ActivMedia Robotics Updating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your Performance PeopleBot get stored in the H8S microcontroller's FLASH ROM. With special upload and configuration software tools, you change and update the FLASH memory image. No hardware modifications are required. -
Page 58: Aros Cf
Install the utilities and files on the PC you plan to use for maintaining your robot’s operating system and parameters (if not the your Performance PeopleBot’s onboard PC) by double-clicking the distribution software’s onscreen icon or otherwise executing the self-extracting, self-installing package. For Linux, uncompress and untar the files: % tar –zxvf AROS1_0.tgz... -
Page 59: Configuring Aros Operating Parameters
ActivMedia Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S- based microcontroller and then exits, much like the simple dl_AROS1_0 program: % ./AROScf –d AROS1_0.hex –n -b Table 14. AROScf startup options ARGUMENT... -
Page 60: Save Your Work
Updating and Reconfiguring P2OS > watchdog 0xfa0 See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 15. AROScf control commands COMMAND DESCRIPTION <value> Alone, keyword displays current, edited KEYWORD value. Add argument to change current value. c or constants Display constant... - Page 61 ActivMedia Robotics Table 16. AROS FLASH parameters with values for Performance PeopleBot Plus KEYWORD Type Default Description Should not be changed CONSTANTS Pioneer Identifies the robot type. PerfPB+ Identifies the ActivMedia robot model. UBTYPE factory Serial number for the robot.
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Page 62: Ticksmm And Revcount
Updating and Reconfiguring P2OS Translational deceleration; mm/sec RANS ECEL Proportional PID for translation RANS Differential PID for translation RANS Integral PID for translation RANS Joydrive maximum translation velocity Joydrive maximum rotational velocity The Proportional PID (Kp) values control the responsiveness of your robot. Lower values make for a slower system;... -
Page 63: Stall Val And Stall Count
ActivMedia Robotics TALL AL AND TALL OUNT An AROS 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. The average is then compared with the stallval FLASH value. If it exceeds that value, in other words the motors are being given lots of power but are barely moving if at all, then a stall happens. -
Page 64: Chapter 8 Maintenance & Repair
Maintenance and Repair Maintenance & Repair Chapter 8 Your Performance PeopleBot is built to last a lifetime and requires little maintenance. NFLATION Maintain even tire inflation for proper navigation of your Performance PeopleBot. We ship with each pneumatic tire inflated to 23 psi. -
Page 65: Charging The Batteries
REMOVE THE BATTERIES FIRST! We describe here how to remove your Performance PeopleBot nose to get at the onboard computer. And we describe how to access the contents of the body of your Performance PeopleBot robot. -
Page 66: Opening The Lower Deck
Maintenance and Repair Once loosened, the Performance PeopleBot’s nose pivots down on a hinge. Simply pry the nose out and away from the body. Opening the Lower Deck Remove the Performance PeopleBot’s lower deck in order to access the onboard electronics. -
Page 67: H8S Ports & Connections
ActivMedia Robotics Appendix A H8S P & C ORTS ONNECTIONS This Appendix contains pinout electrical specifications for the external and internal ports and connectors on the H8S microcontroller, motor-power interface, and User Control boards. Figure 19. Mini- and Note that... -
Page 68: Serial Ports
Appendix A: Ports and Connections Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for AROS client- server and maintenance connections. -
Page 69: The Expansion I/O Bus
ActivMedia Robotics Lift enable Outer breakbeam IR DIGOUT bit 3; DIGIN bit 3; Lift direction Inner breakbeam IR DIGIN bit 4; DIGOUT bit 4; Left paddle contact Not used by Gripper DIGIN bit 5; DIGOUT bit 5; Right paddle Not used by Gripper contact DIGIN bit 6;... -
Page 70: Motors, Encoders, And Ir Sensors
Appendix A: Ports and Connections Table 23. 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 Motors, Encoders, and IR Sensors... -
Page 71: Joystick Port
ActivMedia Robotics Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are shared on other connectors. Table 26. Joystick connector (8-pos microfit) SIGNAL DESCRIPTION SIGNAL DESCRIPTION 5 VDC Fire button 0 *AN4 A/D port 4;... -
Page 72: New Plus Motor -Power Board
Appendix A for H8S-controller and User Control Panel interface details. OTOR OWER OARD The new Motor-Power Board for the Performance PeopleBot Plus robot contains all the features of the two-board legacy system with lots more. Figure 22. New Plus Motor-Power Board Configuration for Current and Temperature Sensing The motor drivers are configured to limit 10A per motor. -
Page 73: Controller Power And Interface
ActivMedia Robotics Table 27. 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 Board Connectors Table 31. User Power connector (12-pos latchlock; unswitched) CONNECTION CONNECTION IR Signal and Power Originally available on the Motor-Power Interface Board and now integrated on the new Plus Motor-Power board, four connectors provide power and signal for fixed-range IR sensors. -
Page 75: Specifications
ActivMedia Robotics Appendix C PECIFICATIONS Perf PB/ PB V1 AT/AT8 Plus Physical Characteristics Length (cm) 44.5 44.5 Width (cm) Height (cm) 24.5 24.5 Clearance (cm) Weight (kg) Payload (kg) Power Batteries 12VDC lead-acid Charge (watt- hrs) Run time (hrs) 8–10 8–10... - Page 76 Appendix D: Specifications Sensors Perf PB PB V1 AT/AT8 Sonar Front Array (one each side, six forward @ 20° intervals) Rear Sonar Array (one each side, six rear @ 20° intervals) Top Deck Sonar (one each side, six forward @ 20°...
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Page 77: Warranty & Liabilities
Warranty & Liabilities Your Performance PeopleBot 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. This warranty 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 78 44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.activrobots.com...
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