AgileX HUNTER User Manual
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AgileX HUNTER User Manual

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20196
AgileX Product HUNTER User Manual
AgileX Robotics Team
Version1.2 Release

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Summary of Contents for AgileX HUNTER

  • Page 1 20196 AgileX Product HUNTER User Manual AgileX Robotics Team Version1.2 Release...
  • Page 2 AgileX robotics (Dongguan) Co., Ltd. Revision History Person in Version Content of Changes Date Charge 1. [New addition] Added the Revision History 2. [New addition] Added motor feedback information v1.2.6 Xie Zhiqiang 2019/9/2 3. [Modification] Modified supported maximum current on v1.2.7...

  • Page 3: Table Of Contents

    AgileX robotics (Dongguan) Co., Ltd. CONTENTS 1. Introduction................................3 1.1 Component list ............................3 1.2 Tech specifications ............................. 3 2. The Basics ................................5 2.1 Status indication............................6 2.2 Instructions on electrical interfaces ......................6 2.2.1 Top electrical interface ........................6 2.2.2 Rear electrical interface .........................

  • Page 4: Introduction

    AgileX robotics (Dongguan) Co., Ltd. 1. Introduction HUNTER is designed as a programmable UGV upon Ackermann model, of which the chassis is based on Ackermann steering. Therefore, it has similar characteristics to cars but has more significant advantages on Portland cement and asphalt roads over them. Compared to the four-wheel differential chassis, HUNTER chassis has a higher load carrying capacity and can reach higher movement speed with less wear of structure and tires for long-term operation.
  • Page 5 AgileX robotics (Dongguan) Co., Ltd. DJI/FS RC transmitter is provided (optional) in the factory setting of HUNTER, which allows users to control the chassis of robot to move and turn; CAN and RS232 interfaces on HUNTER can be used for user’s customization.

  • Page 6: The Basics

    AgileX robotics (Dongguan) Co., Ltd. 2. The Basics This section provides a brief introduction to the HUNTER mobile robot platform, as shown in Figure 2.1 and Figure 2.2. Top Compartment Panel Standard Profile Support Top Electrical Panel Rear Wheel Drive...

  • Page 7: Status Indication

    When the battery voltage is lower than 22V, the vehicle body will give a beep-beep-beep sound as a warning. When the battery voltage is detected as lower than 21.5V, HUNTER will actively cut Replace battery off the power supply to external extensions and drive to prevent the battery from being damaged.

  • Page 8: Rear Electrical Interface

    Therefore, users need to notice that HUNTER platform will send a low voltage alarm before the threshold voltage is reached and also pay attention to battery recharging during use.

  • Page 9: Dji Remote Control Instructions

    2.3 DJI Remote control instructions FS_i6_S remote control instructions FS RC transmitter is an optional accessory of HUNTER for manually controlling the robot. The transmitter comes with a left-hand-throttle configuration. In addition to the two sticks S1 and S2 used...

  • Page 10: Instructions On Control Demands And Movements

    Figure 2.8 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 2.8, the vehicle body of HUNTER is in parallel with X axis of the established reference coordinate system. Following this convention, a positive linear velocity corresponds to the forward movement of the vehicle along positive x-axis direction and a positive angular velocity corresponds to positive right-hand rotation about the z-axis.

  • Page 11: Getting Started

    • Emergency stop ◼ Press down emergency push buttons both on the left and the right of HUNTER vehicle body; Basic operating procedure of remote control After the chassis of HUNTER mobile robot is started correctly, turn on the RC transmitter and select the remote control mode.

  • Page 12: Communication Using Can

    Motorola message format. Via external CAN bus interface, the moving linear speed and the rotational angular speed of chassis can be controlled; HUNTER will feedback on the current movement status information and its chassis status information in real time.
  • Page 13 AgileX robotics (Dongguan) Co., Ltd. Description of Failure Information Byte Meaning Check error of CAN communication control command (0: No bit [0] failure 1: Failure) Abnormal condition of front wheel steering encoder (0: No bit [1] failure 1: Failure) RC transmitter disconnection protection (0: No failure 1:...
  • Page 14 AgileX robotics (Dongguan) Co., Ltd. The command of movement control feedback frame includes the feedback of current linear speed and angular speed of moving vehicle body. For the detailed content of protocol, please refer to Table 3.2. Table 3.2 Movement Control Feedback Frame...
  • Page 15 (checksum) Note 1 - Control mode instructions In case the RC transmitter is powered off, the control mode of HUNTER is defaulted to command control mode, which means the chassis can be directly controlled via command. However, even though the chassis is in command control mode, the control mode in the command needs to be set to 0x01 for successfully executing the speed command.
  • Page 16 AgileX robotics (Dongguan) Co., Ltd. byte [2] Reserved 0x00 byte [3] Reserved 0x00 byte [4] Reserved 0x00 byte [5] Reserved 0x00 Count parity bit 0 - 255 counting loops, which will be byte [6] unsigned int8 (count) added once every command sent...
  • Page 17 AgileX robotics (Dongguan) Co., Ltd. 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x3a The chassis status information will be fed back, and what’s more,the information about motor current, encoder and temperature are also included. The following feedback frame contains the information about motor current, encoder and motor temperature: Table 3.3.5 Feedback of Steering Motor Information...
  • Page 18 AgileX robotics (Dongguan) Co., Ltd. lower 8 bits No. 2 drive byte [2] rotational speed higher 8 bits signed int16 Actual motor shaft velocity (RPM) No. 2 drive byte [3] rotational speed lower 8 bits No. 2 hard disk Actual temperature (with an accuracy of...

  • Page 19: Can Cable Connection

    3.3.2 CAN cable connection 2 aviation male plugs are supplied along with HUNTER as shown in Figure 3.2. Users need to lead wires out by welding on their own. For wire definitions, please refer to Table 2.2.

  • Page 20: Implementation Of Can Command Control

    CAN communication protocol. 3.4 Firmware upgrades The RS232 port on HUNTER can be used by users to upgrade the firmware for the main controller in order to get bugfixes and feature enhancements. A PC client application with graphical user interface is provided to help make the upgrading process fast and smooth.
  • Page 21 Select the port number; • Power on HUNTER chassis, and immediately click to start connection (HUNTER chassis will wait for 6s before power-on; if the waiting time is more than 6s, it will enter the application); if the connection succeeds, "connected successfully" will be prompted in the text box;...

  • Page 22: Precautions

    The battery supplied with HUNTER is not fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at real end of HUNTER chassis or read via CAN bus communication interface. The battery recharging can be stopped when the green LED on the charger turns green.

  • Page 23: Mechanical Load

    4.4 Mechanical load 4.5 Other notes • HUNTER has plastic parts in front and rear, please do not directly hit those parts with excessive force to avoid possible damages; • When handling and setting up, please do not fall off or place the vehicle upside down;...

  • Page 24: Q&A

    Is the tire wear of HUNTER is normally seen in operation? The tire wear of HUNTER is normally seen when it is running. As HUNTER is based on the four- wheel differential steering design, sliding friction and rolling friction both occur when the vehicle body rotates.

  • Page 25: Product Dimensions

    AgileX robotics (Dongguan) Co., Ltd. 6. Product Dimensions 6.1 Illustration diagram of product external dimensions...

  • Page 26: Illustration Diagram Of Top Extended Support Dimensions

    AgileX robotics (Dongguan) Co., Ltd. 6.2 Illustration diagram of top extended support dimensions...

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