CLEARPATH HUSKY User Manual

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HUSKY

UNMANNED GROUND VEHICLE

USER MANUAL

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Summary of Contents for CLEARPATH HUSKY

Page 1 HUSKY HUSKY UNMANNED GROUND VEHICLE USER MANUAL...
Page 2: Table Of Contents
System Specifications ..........................8 Vehicle Equations ........................... 9 Control Modes ............................9 Safety ............................. 10 General Warnings ..........................10 E-Stop and Lockout ..........................10 Electrical System..........................11 Lifting and Transport ........................... 11 Performance Recommendations ....................... 11 ©2014 Clearpath Robotics Inc. All Rights Reserved.
Page 3 Battery Care ............................19 Wheels ..............................20 Chassis ..............................20 Tips and Troubleshooting ......................20 Mechanical Tips ............................ 21 Troubleshooting ............................ 21 A. Product Dimensions ........................23 B. Service and Support ........................24 ©2014 Clearpath Robotics Inc. All Rights Reserved.
Page 4: Introduction
 What’s Required To use Husky, you will require a PC capable of running Robot Operating System (ROS). If a computer option was purchased from Clearpath Robotics with Husky, then the included laptop or minicomputer has already been configured with Ubuntu 12.04 and ROS Hydro, plus appropriate ROS packages and other configuration for use with Husky.
Page 5: The Basics
THE BASICS This section provides an overview of the key specifications of the Husky platform. Figure 1 gives a tour of key Husky components. User Power Panel Extruded Aluminum Mounting Rail Wheel Front Bumper Bar User Payload Area Power Button...
Page 6: Status Panel
Status Panel The status panel is a display of LED indicators located on the rear of the chassis which provide information about the current status of Husky. The indicators are described in Table 1. Icon Description Battery status. The four LED segments provide an approximate indication as to the relative lifetime remaining in the battery.
Page 7: Orientation References
The reference frame used by all Clearpath Robotics ground vehicles is based on ISO 8855, and is shown in Figure 2. Husky is displayed from the front. When commanded with a positive translational velocity (forward), wheels travel in the positive x-direction.
Page 8: System Specifications
System Specifications Key specifications of Husky are shown in Table 2. 990 mm length 39 in length Dimensions 670 mm width 26.4 in width 390 mm height 14.6 in height Track 555 mm 21.9 in Wheelbase 512 mm 20.2 in...
Page 9: Vehicle Equations
Husky supports four distinct control modes: Kinematic Control, the default, uses a speed control feedback loop, and allows specifying  the desired linear and angular speed of Husky. Access this mode by publishing a standard ROS Twist message to the topic.
Page 10: Safety
Place a wooden crate, a set of sawhorses, a sturdy storage tub, or any other solid flat structure having a height greater than 6 inches under Husky to keep the wheels clear of the ground (“up on blocks”).
Page 11: Electrical System
When in lockout mode, the robot will still power on, but the motors will not drive. Electrical System Husky is powered by a single 24V sealed lead-acid battery, similar to the type found in electric wheelchairs, golf carts, and other devices. Husky’s battery is capable of delivering 1800W—...
Page 12 The total current draw does not include the motors drivers; it is the current consumed by the MCU and user power ports. Husky’s motors are rated to draw 8A continuous, but they will spike to several times this, particularly when traversing rough terrain and when turning on the spot.
Page 13: Getting Started
If your PC contains a serial port, connect the male end of the provided serial cable to the  female DE9 on Husky, and the female end of the cable to the male DE9 on the PC. If your PC contains only USB ports, connect the USB end of a USB-serial adaptor to the PC, ...
Page 14: Remote Pc
Remote PC Once you have a PC connected to your Husky with ROS installed, it is recommended to set up your Remote PC. Begin by either plugging the remote PC directly into Husky’s router, or connecting to the same wireless network that your Husky was configured to connect to.
Page 15: Connecting Power
Fuse Panel Battery Figure 7: Husky Battery Area 1. Ensure Husky’s main power button is in the outer “off” position and the e-stop is activated. 2. Using curled index fingers to grip the battery door latches, press with thumbs on the latch buttons and lift the battery door free of the chassis.
Page 16: User Bay Power Connections
Husky. If Husky was purchased without a computer, ROS will need to be set up for use with Husky on a user-supplied PC. The intended model is for this PC to be running Ubuntu 12.0.4 LTS and have ROS Hydro installed http://wiki.ros.org/hydro/Installation/Ubuntu.
Page 17: Using Ros
Robot Operating System (ROS) is an extensible framework for controlling and working with robotic systems. Clearpath Robotics recommends using ROS with Husky. If this is your first time using ROS, it is strongly recommended to run through our series of ROS101 blogs articles to learn the basics of ROS http://www.clearpathrobotics.com/blog/how-to-guide-ros-101/.
Page 18: Workspace
ROS wiki for more details: http://wiki.ros.org/catkin/Tutorials/workspace_overlaying When it comes time for some of your own code to be launched on startup of Husky, edit the default workspace setup file, located in . Change the final line from the /etc/ros/setup.bash...
Page 19: Battery & Maintenance
BATTERY & MAINTENANCE Husky A200 is built for rugged, long-term use. Here are some steps that can be taken to maintain and extend the life of the platform even further: Charging The battery shipped with Husky A200 may be charged off-board, or while still inside of Husky. If charging while installed, you will need to open the access door to the battery area, and disconnect the battery from its connector in the fuse panel.
Page 20: Wheels
3.7 ft-lb [5 N-m] torque. Chassis Husky is an all-terrain robot, but it is not waterproof. Care should be taken that no part of the main chassis is ever submerged in water. When the chassis becomes wet or dirty, wipe it down with a damp cloth and dry with a towel.
Page 21: Tips And Troubleshooting
TIPS AND TROUBLESHOOTING Mechanical Tips Husky’s wheels can handle a range of different terrains, but work best when inflated to the proper pressure. Lower tire pressures, for example 10 psi, ensure better traction in rough and varied terrain, where rocks or other obstacles may be encountered. This has the adverse effect of lowering drivetrain efficiency and decreasing battery life, so high pressures up to a maximum of 20 psi should be used when driving on flat surfaces.
Page 22  Q: After turning Husky 90 degrees, it reported that it turned more than that. A:A skid steer vehicle like Husky may slip when turning. The encoders cannot capture slippage and will report that the vehicle has turned more than in actuality. We suggest you couple the encoder data with an IMU that reports turns more accurately.
Page 24: Service And Support
B. SERVICE AND SUPPORT Clearpath Robotics is committed to your success and satisfaction. We are located in Kitchener, Ontario, and can accept phone calls from 9AM to 5PM EST Monday to Friday, at our toll-free number, or emails at any time. If you any questions or concerns, visit our support knowledge base for more information or to get in touch with our support team.

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