Dr Robot Jaguar 4x4 User manual

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V07.08.18.Q
All-Terrain Autonomous Navigation Robot with GPS-IMU
Jaguar4x4Wheel
WithManipulatorArm
UserGuide
Install Fuse; Charge the battery pack
before use

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V07.08.18.Q
WARNINGS
Do NOT power on the robot before reading and fully understanding the
operationproceduresexplained inthis manual.
Always charge the battery when battery is running low or before
storage.
Always turn your robot off when not in use. Over-draining the
battery (such as keeping the robot on without charging) will damage
the battery.
Never position your finger(s) in between the track and/or arm’s moving parts
evenwhenthe powerisoff.
The robot arms must be positioned to the rest position before turning on the
robot.
Neither the robot, nor the program is bug free, accident could happen; you
have to make sure that the robot always maintains a safe distance from
people duringoperation.
Failure to follow these warnings could cause serious injury or death and/or
damage tothe robot.

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V07.08.18.Q
Copyright Statement
This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr
Robot.
All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned
and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Duplication, distribution, reverse-engineering, or commercial application of the Dr Robot or licensed software and
hardware without the expressed written consent of Dr Robot is explicitly forbidden.
www.DrRobot.com
Contact
General: [email protected]
Technical Support: [email protected]
Tel: [phone]
Fax: [phone]

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Table of Contents
I. Specifications 5
Key Features 5
Jaguar Core Components 7
Main Upgrade Options 7
II. Knowing Your Robot 8
Overlook 8
Operation Scenario 9
Software Installation 9
III. Operation of Jaguar Robot 10
Turn on/off the Platform 10
Using Dr Robot Jaguar Control Program 10
Recharging 15
IV. Hardware and Electronics 17
Network Settings 17
Hardware Architecture 17
Jaguar 4x4 Wheel Base System 19
Jaguar Manipulator Arm System 21
V. Further Development & Programming 22
The Jaguar Control program 22
Advanced Development 24

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.07.08.18.Q
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I. Specifications
Jaguar 4x4 Wheel with Arm Mobile Platform is designed for indoor and outdoor operation requiring higher
ground clearance and faster maneuverability. It comes with a rugged 3+1DOF robotic arm (Jaguar Arm), Jaguar
Arm is light on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with
maximum reach of over 710mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg.
Wrist mounted color video camera provides high resolution (640x480) close-up view. Jaguar Arm is ideal or
objectinspectionand handling. Itcould alsoworkas anarticulated sensorplatform. Integrated softwarefeatures
independent joint space control as well as gripper Cartesian space control. While it only has 3 rotation joints
(excluding gripper), when working together with the Jaguar 4x4 Wheel mobile robot, Jaguar Arm could achieve
full6DOF,andreachvirtuallyanypositionandatanyorientationwithinitsallowedworkingspace.
Jaguar 4x4 Wheel with ArmMobile Platform is driven by fourpowerful (105W) motors, one for each wheel. This
platform is rugged, light weight (< 33Kg), fast (max 7km/hr), with high ground clearance (88mm), compact,
weather and water resistant. It is designed for tough terrains and capable of running over vertical step up to
155mmandclimbinguplowrisestairs(upto110mmstep).Jaguar4x4wheelwithArmPlatformisfullywirelessly
802.11Nconnected.Itintegratesoutdoor GPSand9DOFIMU (Gyro/Accelerometer/Compass)forautonomous
navigation.The integratedhigh resolutionvideo/audioand optionallaser scannerprovideremote operatordetail
information of the surrounding. Besides the ready to use control and navigation software, a full development kit
includingSDK,dataprotocolandsamplecodes,isalsoavailable.
Key Features
Ruggedandreliablemobileplatformforindoorandoutdoorapplicationswith fastermaneuverability (max 7Km/hr)
Indoorandoutdooroperationrequiringhighergroundclearanceandontough terrains
Weatherandwaterresistantenclosure
Climbingup>45°slopeorstairs(max110mmor4.5")
Lightweight(<33Kg)andcompactdesignwithlargepayloadcapacity
Autonomousnavigation withoutdoorGPSand9DOFIMU(Gyro/Accelerometer/Compass)
Managingmax155mm(6")verticalstep(obstacle)
Integratedhighresolutionvideocamerawithaudio
All802.11Nwirelesslyconnected
Ruggedroboticarm(3DOF+1DOFgripper)
Compact,lightweightanddurablewithaluminummainconstructionManipulatorArm
710mm(28in)reachwithmax 4Kg payload (ManipulatorArm)
Lowenergyconsumption
Widegripperopening(150mm/6in)
Integrated joint-spaceandgripperCartesian spacearm control
Wristmountedcameraprovidinghighresolution(720x480)close-upview
Additional on arm option includes Infrared LED, white LED for night and day time illumination, dust blower, laser scanner
and varioussensing devices
Head mounted display (optional) and Gamepad controller providing outdoor operation with large and clear view even
underdirectsunlight
Integrated laserscanner (Optional)
Readytousecontrol andnavigationsoftware
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
VisualStudio,ROS,NILabVIEW®,MATLAB®,Java®

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Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry
Slope: > 45°
Maximum vertical step: 155mm (6”)
Stair climbing: Max stair step height 110mm (4.5”)
Traverse: > 200mm (8”)
Speed: 0 –7Km/hr
Turning radius: 0, min 750mm (29.5”) diameter of turning space
Ground clearance: 88mm (3.5”)
Operator remote control
Autonomous navigation with GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Indoor vision landmark GPS (Optional)
Sealed weather resistant enclosure
Temperature: -30° to +40°
Shock resistant chassis
Motion and sensing controller (PWM, Position and Speed Control)
5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Laser scanner (5.6m, 4m or 30m) (Optional)
Temperature sensing & Voltage monitoring
Headlights
Color Camera (640x480, 30fps) with audio
Color Camera (640x480) at Manipulator Arm
WiFi802.11G (Optional WiFi 802.11N)
Ethernet (Optional)
Ethernet (Optional)
General purpose communication and power port (Optional)
Gamepad controller
Head mounted display (dual 640 x 480), equivalent to 60” display viewed in 2.7m (9 feet) (Optional)
Portable computer (Optional)
Rechargeable battery: LiPo 22.2V 20AH
LiPo battery charger
Nominal operation time: 3 hours
Wheel Motors (24V): 4 units
Max output (after gear down) (x4): Max 80W, 65Kg.cm/wheel
Rated current: 2.75A, Max current: 16A
Height: 432mm (17”)
Width: 573mm (22.5”)
Length: 615mm (24”)
Weight: 32.8Kg (Standard Configuration)
Carrying Payload (on flat surface): max 15Kg
Dragging Payload (on flat surface): max 50Kg

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.07.08.18.Q
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Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
Visual Studio, ROS, NI LabVIEW®, MATLAB®, Java®
Jaguar Core Components
JAGUAR4x4W-ME
Jaguar 4x4 Wheel Chassis (including motors and encoders)
1
JAGUAR-ARM
Jaguar Manipulator Arm
1
PMS5006
Motion and Sensing Controller
1
WFS802
Serial to network Module
2
DMD1202
10A (peak 20A) Dual-channel DC Motor Driver Module
4
PMCHR12
DC-DC Power Board
1
AXCAM-A
640x480 Networked Color Camera (max. 30fps) with Two-Way Audio
1
OGPS501
Outdoor GPS Receiver with 5Hz Update Rate and WAAS
1
IMU9002
9 DOF IMU (Gyro/Accelerometer/Compass)
1
WRT802G
802.11N wireless AP/router
1
BPN-LP-10
22.2 V 20 AH LiPo Battery Pack
1
LPBC5000
2A LiPo Battery Charger
2
GPC0010
Gamepad Controller
1
Main Upgrade Options
Laser Scanner (Range 5.6m) for Indoor Application
LAS05M
Laser Scanner (Range 4m) for Indoor Application
LAS04M
Laser Scanner (Range 30m) for Outdoor Application
LAS30M
22.2V 20 AH Li-Polymer Battery Pack
BPN-LP-20
Head Mounted Display (800x600)
HMD8H6H
802.11N Wireless AP/Router
WRT802N
Host Controller PC
HCPC1008
Please contact [e-mail] for custom design and integration inquiry.

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.07.08.18.Q
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II. Knowing Your Robot
Overlook
The figure below illustrates the key components that you will identify on the Jaguar-4x4-Wheel robot with
Manipulator Arm .
Jaguar 4x4 Wheel Platform with Manipulator Arm
GPS and 9 DOF IMU
(Gyro/Accelerometer/Compass)
Camera
External Ethernet Socket (Option)
Gripper
Headlights
Swappable Battery Pack
Handle Bar
Manipulator Arm Joint 3
Manipulator Arm Joint 1
Manipulator Arm Joint 2
Power Switch
Laser Scanner (* Optional)

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.07.08.18.Q
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Operation Scenario
Diagram below illustrates the typical operation scenario. The Jaguar is a wireless networked outdoor mobile
robot. It comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar Control”
program connects to the Jaguar robot via:
Network cable –Connect the robot on-board AP/router. (DO NOT connect to the WAN port), or
Wireless –To connect the host controller PC to the on-robot wireless AP/router, configure the host PC’s
wireless settings using the default wireless configuration settings found in the Network Connection
session of this manual.
Human operator carrying the host controller PC could use the head-mounted display (accessory option) and the
included game-pad controller in outdoor environment to monitor and control the operator under any outdoor
lighting environment, even under direct sunshine. The included “Jaguar Control” program will therefore be
projected on the head-mounted display, where you could see all the sensor information from the robot, and the
video streamed from the camera on robot (Please refer to “Jaguar Control program” session for detail).
Typical Operation Scenario
Note: The host controller PC running the “Jaguar Control” program could be mounted on the robot instead off the
robot if your application requires so.
Software Installation
Jaguar Control programs, application development library and supporting documents could be found from the
Jaguar software CD.
On the host controller computer, you should install the following programs from the installation CD:
“Jaguar Control” program - installed by the Setup.exe from CD
Google Earth program - could be downloaded from http://earth.google.com/download-earth.html.
Please follow its installation instruction.
Axis camera SDK –installed from CD
Portable PC (Host controller PC)
(Optional)
Head-mounted display
(Optional)
Gamepad
Controller

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.07.08.18.Q
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III. Operation of Jaguar Robot
End user could develop his own Jaguar control program using the supplied development API and tools. Here, we
will show you how to control the robot using the included “Jaguar Control Program” (You need to install Google
Earth program first).
Turn on/off the Platform
Please follow the below steps to turn on the robot.
1. Turn the main switch to "ON" position.
2. Press the start button for a while (around 1 second) then release.
If you see the green LED on the start button is on, the system is powered up.
If not, please check the battery to make sure it is fully charged.
Turn the main switch to "OFF" position, the system will shut down.
Using Dr Robot Jaguar Control Program
After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and
connect with this network with key “drrobotdrrobot”. After successful connection, please fix your PC IP address
as “192.168.0.104” at this wireless interface. You could try to ping the main control module by command “ping
192.168.0.60” to make sure the connection work well.
This program will demonstrate how to control and navigate the Jaguar, move the arm-tracks and how to interpret,
process, display and log multi-sensor information. This program is provided with source code (c#).
updates motor encoder reading, motor temperature, board voltage and battery voltage measured
at 10Hz;
reads and displays IMU and Laser Range sensor data;
displays GPS readings on the Google Earth;
displays and controls Axis camera.
Once you start this program, you will see a “Login Window”
Google Earth is then loaded (this may take a while).