Pioneer Module Mobile User Manual
Gripper
&
Experimenter’s Module
Manual
version 1.2
Gripper & Experimenter’s Module
Copyright 1997,
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
The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM
that accompany the robot and accessories and which are available for network download
by Pioneer 1 customers are solely owned and copyrighted by Kurt Konolidge and SRI
International. Pioneer 1 developers and users are authorized by revocable license to
develop and operate custom software for personal, research, and educational use
Duplication, distribution, reverse-engineering, or commercial application of the Pioneer
software and hardware without the expressed written consent of SRI International and
Media, Inc. is explicitly forbidden.
Activ
Real World Interface (RWI), Inc. manufactures the Pioneer 1 Mobile Robot and
Gripper/Experimenter’s Module accessories. The various names and logos for products
used in this manual are registered trademarks or trademarks of their respective
companies. Mention of any third-party hardware or software constitutes neither an
endorsement nor a recommendation.
Media, Inc. All rights reserved.
Activ
Activ
Media, Inc.
only
.
ii
Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997.
Contents
Page
1. INTRODUCTION 1
1.1 Gripper and Experimenter’s Package 1
1.1.1 Package Components 1
1.1.2 User Supplied Components 1
1.2 Basic Pioneer Platform 2
1.3 The Gripper & Experimenter’s Module 2
1.3.1 Gripper Description 2
1.3.2 Experimenter’s Module Description 4
1.4 Additional Resources 5
1.4.1 Pioneer Web Software Archive 5
1.4.2 Pioneer and Saphira Newsgroups 5
1.4.3 Support 6
2. INSTALLATION 7
2.1.1 Step 1: Remove the Console 7
2.1.2 Step 2: Remove Microcontroller from Console 7
2.1.3 Step 3: Replace the PSOS EPROM 8
2.1.4 Step 4 Reattach Microcontroller to Console 9
2.1.5 Step 5 Remove Nose 9
2.1.6 Step 6 Connect Cables 9
2.1.7 Step 7 Attach Gripper/Experimenter’s Module to Pioneer 9
2.1.8 Step 8 Re-Attach the Console Cables 10
2.1.9 Step 9 Re-Attach the Console 10
2.1.10 Step 10 Test the Assembly 10
3. GRIPPER OPERATION AND PROGRAMMING 11
3.1 Gripper Self Test 11
3.2 PSOS Server Information Packet 11
3.3 Gripper I/O 12
3.4 Gripper Programming 12
3.4.1 Direct Control via Digital Ports 13
3.4.2 State Commands 13
iii
4. EXPERIMENTER’S MODULE 15
4.1 I/O Ports 15
4.1.1 Digin: Self-Test 17
4.1.2 Digout: Self-Test 17
4.2 Programming the Digital I/O Ports 18
4.3 Programming the A/D Ports 18
4.4 Programming the Speaker 18
5. MAINTENANCE & REPAIR 19
5.1 Drive Lubrication 19
5.2 Gripper Belt Adjustments 19
5.3 Factory Repairs 19
6. APPENDIX A 20
Example C Program Demonstrates Gripper and Speaker Functions
7. APPENDIX B 24
Pioneer Server Information Packet
8. INDEX 25
WARRANTY & LIABILITIES 28
iv
Gripper & Experimenter’s Module
1. Introduction
ongratulations on your purchase and welcome to the rapidly
growing community of researchers, developers, and
C
provides the general and technical details you will need to install
and operate your new Gripper and to develop your own
attachments and enhancements for the Pioneer 1 Mobile Robot with the integrated
Experimenter’s Module.
Pioneer:
2.1 Gripper and Experimenter’s Package
enthusiasts of the Pioneer 1 Mobile Robot.
This
Pioneer 1 Gripper & Experimenter’s Module Manual
We also encourage you to use these companion resources that come with your
9
Pioneer Operation Manual
9
Saphira Software Manual
9
Pioneer Registration & Account Sheet
9
Personal account for the
9
Pioneer- and Saphira-users@rwii.com support newsgroups
http://css.activmedia.com
Internet server
Our experienced robotics manufacturing staff put your Pioneer 1 Gripper and
Experimenter’s Module through a “burn-in” period and carefully tested them before we
shipped the hardware and software to you. Our care extends beyond: Besides the
companion resources listed above that bring the whole community of Pioneer to you, we
warranty the Gripper and Experimenter’s Module against mechanical and electronic parts
and labor defects for 90 days. All of these precautions ensure that you have many years
to enjoy your new accessories for the Pioneer 1 Mobile Robot.
Even though we’ve made every effort to make your package complete, please check
the components once again after you unpack it from the shipping crate.
2.1.1 Package Components
9
Pioneer 1 Gripper & Experimenter’s Module Assembly
9
32K EPROM containing latest PSOS
9
Gripper & Experimenter’s Module Manual
2.1.2 User Supplied Components
9
Pioneer 1 Mobile Robot
9
Set of hex wrenches that accompanied original robot
9
Small, flat-bladed screwdriver
9
Optional “chip-puller” tool
1
Overview
2.2 Basic Pioneer Platform
Pioneer 1 is a small, mobile robot developed by Kurt Konolige of SRI International
and Grinnell More of Real World Interface, Inc., and is available exclusively through
Media, Inc.
Activ
The basic Pioneer 1 Mobile platform contains all of the components for sensing and
navigation in a real-world environment, including battery power, drive motors and
wheels, position encoders, and ultrasonic sonar transducers—all managed via an
MC68HC11-based microcontroller board (Figure 1-1).
Figure 1-1. Basic components of the Pioneer 1.
The Pioneer 1 also comes with the Pioneer Server Operating System (PSOS) software
on EPROM for easy access and control of the robot’s systems, an RS232 serial port for
communication between the robot and other computers, as well as a variety of expansion
I/O ports for optional and custom attachments.
2.3 The Gripper & Experimenter’s Module
The Pioneer 1 Experimenter’s Module essentially is a circuit board and accessory
electronics that extend the capabilities of the Pioneer 1 microcontroller’s standard I/O
ports, including electrical support for the Pioneer Gripper. The Experimenter’s Module is
part of the Pioneer Gripper assembly, which together replace the nose the of basic robot
(see Figures 1-1 and 1-2 and Chapter 2,
2.3.1 Gripper Description
The Pioneer Gripper is a simple, yet powerful 2-DOF robotic manipulator and sensor
(Figure 1-2 and Figure 1-3). Driven by a single, reversible-DC servo-motor under control
of the Pioneer microcontroller, it operates between two states: down/open and up/closed.
Installation
).
2
Figure 1-2 Pioneer Gripper side view.
Gripper & Experimenter’s Module
Figure 1-3. Pioneer Gripper top view
In its fully down/open state, the two 2.5 inch (5cm) tall by 3.5 inch (9.5cm) deep
Gripper paddles (each with 0.5cm foam pads on the inside) are 8.5 inches (21.5cm) apart
and ride 1 inch (2.3cm) off the floor. The paddles extend out from the front robot’s main
body 3 inches (10cm) beyond the console edge.
3
Overview
In transition from the fully down/open position to their up/closed state, the Gripper
paddles close together horizontally until they pinch an object or close on themselves. At
that point, the entire Bar and Gripper Assembly rises up vertically—with or without an
object in its grasp. Under software control, the Gripper then rises to a special “carry”
position or all the way to the top of the Gripper case 4 inches (10.5 cm) off the floor to its
closed/up position. It is not normally possible to open the Gripper at this state.
The reverse cycle lowers the Gripper Bar and paddles to the bottom of the assembly,
whereupon the paddles separate, dropping any contents, and open to their fully
down/open position.
Two “bump” switches—one on each paddle tip—sense contact with objects. IR-based
“break beams” embedded at the front and back of each paddle sense objects between and
within the Gripper’s grasp.
Three other switches sense the Gripper’s paddle positions. One switch inside the Bar is
on when the Gripper paddles are in their fully open position. Another at the top of the
Bar toggles on when the Gripper reaches its fully up position. A third “carry” switch,
located behind the Bar, indicates when the Gripper is between 1.5 and 2 inches (4-5cm)
off the floor.
2.3.2 Experimenter’s Module Description
The Experimenter’s Module includes several additional features that users may enable
through the Pioneer I/O controls: There are green “directional” LEDs embedded in the
tip of each paddle and at the top of each side, facing front on the Gripper’s back plate.
On the left side of the Gripper, there is a speaker, an SPST on-off slide switch, a
momentary push-button switch, and another LED (amber).
Figure 1-4. Pioneer 1 Experimenter’s Module
Inside and on the Experimenter’s Module is a bank of eight RC-servo controller ports.
Layout/solder pads with DC power and I/O port connections supplied by the Pioneer
microcontroller also are on the Module card, as well as eight multiplexed analog-to-
4
Gripper & Experimenter’s Module
digital ports. There also is circuitry and a connector for an as-yet-implemented remotecontroller IR.
A complete list of available I/O ports and connections can be found in Chapter 4,
Experiment’s Module
.
2.4 Additional Resources
Every Pioneer 1 customer gets three additional and valuable resources: a private
account on
manuals, access to RWI’s private robotics newsgroups, and E-mail access to the Pioneer
1 support team.
2.4.1 Pioneer Web Software Archive
We have a World Wide Web server connected continuously to the Internet where
customers may obtain Pioneer 1 software and support materials. Point your favorite Web
browser to:
http://css.activmedia.com
Some access areas are restricted to licensed customers, including Pioneer owners. To
gain restricted access, use the username and password that are written on the Pioneer 1
Registration & Account Sheet
Media’s Internet server for downloading Pioneer software, updates, and
Activ
that accompanied your robot.
2.4.2 Pioneer and Saphira Newsgroups
RWI also maintains a special E-mail-based newsgroup for Pioneer 1 owners and
Saphira programmers to share ideas, software, and questions. We strongly encourage you
to sign up. For details, send E-mail:
To:
majordomo@rwii.com
From: <your return E-mail address goes here>
Subject: help (Subject: always ignored)
(body of message—choose one or more commands:)
help (returns instructions)
lists (returns list of newsgroups)
subscribe <list name here> (waddayatink?)
unsubscribe <list name here> (ditto)
end
5
Overview
2.4.3 Support
Have a problem? Can’t find the answer in this or any of the accompanying manuals?
Know a way that we might improve Pioneer 1? Share your thoughts and questions
directly with us:
pioneer-support@rwii.com
Your message goes to our team of Pioneer developers who will help you directly or
point you to where you may find help. Because this is a support option, not a generalinterest newsgroup like Pioneer-users described above, we must reserve the option to
reply only to questions about bugs or problems with Pioneer 1 and its accessories.
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