Omron Adept MobileRobots Pioneer 3 Manuals

Omron Adept MobileRobots Pioneer 3 Manuals

Manuals and User Guides for Omron Adept MobileRobots Pioneer 3. We have 1 Omron Adept MobileRobots Pioneer 3 manual available for free PDF download: Operation Manual

Omron Adept MobileRobots Pioneer 3 Operation Manual

Omron Adept MobileRobots Pioneer 3 Operation Manual (80 pages)

Mobile Robots, Development Platforms for Research and Education

Brand: Omron Adept MobileRobots | Category: Robotics | Size: 2 MB

Table of Contents

About Omron Adept Mobilerobots
2
Table of Contents
5
Chapter 1 Introduction

9
- Robot Packages
  9
- Software and Pioneer SDK
  10
- Additional Resources
  11
  - Support Website
    11
  - Newsgroups
    11
  - Support
    12
Chapter 2 Specifications & Controls

13
- Physical Characteristics and Components
  13
- Deck
  14
- E-Stop Button
  14
- User Control Panel
  14
  - Power and Status Indicators
    14
  - Buzzer
    14
  - Serial Port
    15
  - Power Switches
    15
  - Reset and Motors
    15
- Body, Nose and Accessory Panels
  15
  - Nose
    16
  - Access Panels
    16
- Sonar
  16
  - Multiplexed Operation
    16
  - Sensitivity Adjustment
    16
- Motors, Wheels, and Position Encoders
  17
- Batteries and Power
  17
  - Battery Indicators and Low Voltage Conditions
    17
  - Recharging
    17
- Safety ARCOS Watchdogs
  18
Chapter 3 Accessories

19
- Joystick and Joydrive Mode
  19
- Bumpers
  19
- Automated Recharging Accessory
  20
  - Manual Operation (Robot Power OFF)
    20
  - Manual Operation (Robot Power and Systems ON)
    20
- Radio Controls and Accessories
  20
- Integrated PC
  21
  - Computer Control Panel
    21
  - Operating the Onboard PC
    22
  - Onboard PC Networking
    22
- Gyroscope
  23
Chapter 4 Quick Start

24
- Preparative Hardware Assembly
  24
  - Install Batteries
    24
  - Client-Server Communications
    24
- ARIA Demo
  24
  - Demo Startup Options
    25
  - A Successful Connection
    26
- Operating the ARIA Demonstration Client
  26
- Disconnecting
  27
- Networking with Mobileeyes
  27
- Quickstart Troubleshooting
  28
  - Parameter Files
    28
  - Proper Connections
    28
Chapter 5 Software and Robot Control

29
- Robot Connection
  29
- Robots in Motion
  29
  - Requesting Robot Motion
    29
  - PID Controls
    30
  - Position Integration
    31
- Client-Server Communication Packet Protocols
  31
  - Packet Checksum
    32
  - Packet Errors
    32
- The Client-Server Connection
  33
  - Autoconfiguration (SYNC2)
    33
  - Opening the Servers-OPEN
    33
  - Server Information Packets
    33
  - Keeping the Beat-PULSE
    35
  - Closing the Connection-CLOSE
    35
- Client Commands
  35
  - Argument Types
    35
  - Command Listing
    36
- Motion Commands and Parameters
  39
  - Client Motion Commands
    39
  - Driftfactor, Revcount, and Ticksmm Parameters
    40
- Sonar
  40
  - Enable/Disabling SONAR
    40
  - Polling Sequence
    40
  - Polling Rate
    40
  - SONAR Range Readings
    41
- Stalls and Emergencies
  41
- Accessory Commands and Packets
  41
  - Packet Processing
    42
  - Configpac and CONFIG Command
    42
- Serial
  44
  - HOST-To-AUX Serial Transfers
    44
- Encoders
  44
- Buzzer Sounds
  44
- TCM2 Compass
  45
  - Calibration
    46
  - Reset Mode
    46
- Input Output (I/O)
  47
  - User I/O
    47
  - IO Packets
    47
  - Bumper and IR I/O
    48
- Joystick
  48
- Gripper
  49
- Heading Correction Gyro
  49
  - Client-Side Gyro
    50
  - Server-Side Gyro
    50
Chapter 6 Updating & Reconfiguring ARCOS

51
- Where to Get ARCOS Software
  51
- ARCOS Maintenance Mode
  51
  - Enabling Maintenance Mode
    51
- Arcoscf
  52
- Starting Arcoscf
  52
  - Start up Arguments
    52
- Configuring ARCOS Parameters
  53
  - Interactive Commands
    53
  - Changing Parameters
    53
- Save Your Work
  53
- PID Parameters
  56
- Driftfactor, Ticksmm and Revcount
  56
- Stallval and Stallcount
  57
- Bumpers
  57
- Irs
  57
- Readme
  58
Chapter 7 Calibration & Maintenance

59
- Tire Inflation
  59
- Calibrating Your Robot
  59
  - Standard Calibrations
    59
  - Gyroscope Calibrations
    59
- Drive Lubrication
  60
- Batteries
  60
  - Changing Batteries
    60
  - Hot-Swapping the Batteries
    60
  - Charging the Batteries
    60
  - Automated Docking/Charging System
    61
  - Alternative Battery Chargers
    61
- Tightening the at Drive Belt
  61
- Getting Inside
  62
  - Removing the Nose
    62
  - Opening the Deck
    62
- Factory Repairs
  62
Chapter 8

64
- Robot Microcontroller Ports & Connectors
  64
  - Main Power Input
    65
  - Auxilliary Serial Ports
    65
  - User I/O, Gripper and Automated Recharger Connector
    66
  - AN4, AN5 Analog Inputs ("TILT/ROLL")
    67
  - Motors, Encoders and Irs
    68
  - Joystick
    68
  - Bumpers
    68
  - Sonar
    69
  - User Control Board
    69
  - Gyro
    69
Chapter 9

71
- Motor-Power Distribution Board
  71
Chapter 10

74
- Specifications
  74
Chapter 11

76
- System Interconnection/Wiring Diagram
  76
Chapter 12 Warranty & Liabilities

77
- Index
  78

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