Pioneer Module Mobile User Manual

Gripper

Experimenter’s Module

Manual

version 1.2

Gripper & Experimenter’s Module

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.

Activ

Media, Inc.

only

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

Gripper & Experimenter’s Module

1. Introduction

ongratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and

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

Pioneer Operation Manual

Saphira Software Manual

Pioneer Registration & Account Sheet

Personal account for the

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

Pioneer 1 Gripper & Experimenter’s Module Assembly

32K EPROM containing latest PSOS

Gripper & Experimenter’s Module Manual

2.1.2 User Supplied Components

Pioneer 1 Mobile Robot

Set of hex wrenches that accompanied original robot

Small, flat-bladed screwdriver

Optional “chip-puller” tool

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

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.

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-

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

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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