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

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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

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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.

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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)

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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

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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).

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Google Earth supports offline use (without Internet), but you have to obtain the map online ahead of use.
When Internet is not presented, this loading process will take longer time when trying to connect with Google
Earth website. You will not get the correct Latitude and Longitude position by clicking on map before the map
loading is finished. When loaded, click “OK” button.
“FlyToSetPoint” button will bring you to the location
(latitude/longitude) specified in “outdoorrobotconfig.xml”. This
is the location you would like the map to center and show
around. You should modify this location according to your
location. This could be done by inputting the value in this xml
file or navigating on Google Earth map to your interested
point, then clicking “SaveSetPoint” button. The location value
of the map center will then be saved to the
“outdoorrobotconfig.xml” when program is closed.

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You could use the vertical track bar to zoom in or out.
It will display the 2 motor driver board state. If all of them in ESTOP(emergency stop)
state, you could click the button to release the Estop.
When the GPS-IMU module is presented, this program will connect and display the GPS information on Google
Earth and IMU raw data on the text boxes.
The Gyro reading should be around “0” if the robot sit still without any motion. If you find any value of gyro axis
reading bigger than “10”, you could click button to make the controller calculate the gyro offset again.
When camera is presented, the video and AV control buttons will be shown in the video window.
You could use the included Gamepad controller to navigate the robot. When used outdoor, especially under direct
sun lights, head-mounted display (optional accessory) will provide clear and large display with excellent outdoor
experience.
Gamepad Controller
Manipulator Arm J2 Up
Manipulator arm
gripper open
Manipulator arm gripper
close
Jaguar
Forward / Backward
Control
Manipulator arm J3 turn to
left
Jaguar Turning Control
Manipulator Arm J1 Up
Estop/Resume wheel
motors
Reset Manipulator Arm to
initial position
Manipulator Arm J1 Down
Manipulator arm J3 turn
to right
Manipulator Arm J2 Down
Front Light
On/Off
Set Manipulator Arm Initial position

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Note: when using Gamepad controller, you need to make sure the program window is in “focus”.
When is clicked (with optional laser range scanner), it will display laser scanner data in polar view as
shown below.
Click “Turn on” and then “Scan” button. You could use trackbar to adjust the data cut-off distance (i.e. any
obstacle with distance larger than this value will be ignored). By checking , you will enable the collision
avoidance function.
When switching to manipulator arm control, the GUI will display the manipulator arm position if you set the arm
initial position.

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Battery information and motor information is displayed here. If the robot uses the included LiPo battery, you
need to stop the robot when voltage is below marked voltage (22.2V)
in order to prevent battery damage. Motor temperatures are also
displayed here. “Encoder Pos” boxes show the encoder position values
received in motor driver board from motion control board.
When selected, the motors will be disabled once motor
temperature is higher than the safety threshold (we recommend this
feature to be enabled for safer operation); when de-selected, motor
over-heat protection feature is disabled.
Shows Joints Angle Information and Control Value
* Arm J4 is Gripper
If you press the “Start” button on gamepad to set manipulator initial position, it
will “check” .
After that, you could press “B” button on gamepad to reset manipulator arm to
initial position.
When you operate the manipulator arm, please pay attention to the temperature sensor readings to avoid
overheating the motors
“Arm Driver1” tab will display motor driver controller 1 states (for Joint 1 and 2). If
you did not get the sensor reading back, you could click “QueryCmd” button to
send query command. Please make sure the channel 1 and 2 are working in
position control mode (Mode:3).
will display channel1, 2 motor’s current.
“Arm Driver2” tab will display motor driver 2 states (for Joint3 and Gripper). If you
did not get the sensor reading back, you could click “QueryCmd” button to send
query command. Please make sure the channel 1 is working in position control
mode (Mode:3) and channel 2 is working in open loop mode.
will display channel 1 and 2 motor’s current.
The two horizontal track bars show the Gamepad controller’s left and right stick control value.
You could record raw GPS-IMU/Encoder sensor data using button. The raw sensor data file will be
saved to "c:\DrRoboAppFile" folder with file name GPSIMURec*.txt.
All traces are displayed on Google Earth by KML data. Since the current version of Google Earth does not provide
programming method to clear these KML data, there is risk of memory leak. You could manually clear these KML
data by right-clicking on “Temporary Places”, then choosing “Delete Contents”. (That is why we did not hide
Google Earth program)

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On normal program exit, Google Earth will be closed. However, you should double check by using “Windows Task
Manager”; otherwise, you may not be able to display Google Earth when you start Jaguar control program again.
is Emergency Stop for manipulator arm (disable) action.
You could click the button to resume the manipulator arm controller.
Recharging
Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of
battery, explosion and damage could occur. Please read the Charge Station manual first and follow all the safety
rules before proceeding further.
1) Turn off the robot
2) Loose the locking screws of the Battery Box, disconnect the 2-Pin
Tamiya connector and take the Battery Box out.
3) Power on the Charge Station. Use to make sure "LiPo BALANCE" is
displayed on the LCD screen. If not, use "Type/Stop" button to change battery type to "LiPo Battery" and press
to set charging mode to “LiPo BALANCE” .
4) You can use + / + buttons to change the charge
current, DO NOT exceed the 2A charging current and do not modify the battery voltage. It should be "22.2V
(6S)" for Jaguar robot.
5) Connect the charging 7-Pin, 3-Pin & 2-Pin connectors to charger as below images.

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6) Press button for few seconds, the charge station will check the battery and display what the reading is. It
should be same as your settings above.
7) If everything is right, you can press button again to start charging.
8) Press to switch the display to show the battery status. The display
should show each battery reading as shown.
*Note: If any battery reading is missing, please turn off the charging station and turn the power switch to “OFF”,
and check the 7-pin connector, make sure it connects well.
9) Keep the charger away from children and pet at all time! Never leave the charger unsupervised when it is
connected to its power supply. For more detail about charger station operation, warning and error message,
maintenance and safety message, please refer to “Intelligent Digital Balance Charger Operation Manual”.

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IV. Hardware and Electronics
Network Settings
Wireless Router Setting
The included pre-configured wireless 802.11 B/G router has the following pre-set settings:
SSID
DriJaguar
Router LAN
192.168.0.245
WEP
128bits
Login ID
drrobot
KEY
drrobotdrrobot
Password
drrobot
Key Type
Open Key
Device Default Network Settings
Note: The Ethernet modules are configured to serial-to-Ethernet mode in Jaguar platform.
Ethernet Module 1
192.168.0.60
Port 1
Port10001tobasecontrollerboard
TCP 115200. 8, N, 1, flow control
Port 2
Port10002toLaserScanner(option)
TCP 19200/115200. 8, N, 1, no flow
control
Ethernet Module 3
192.168.0.63
Port 1
Port 10001 tomanipulatormotorcontroller 1
TCP 115200. 8, N, 1, no flow control
Port 2
Port10002tomanipulatormotorcontroller2
TCP 115200. 8, N, 1, no flow control
Camera
192.168.0.65 Port 8081
User ID
root
Password
drrobot
Manipulator Arm Camera
192.168.0.64 Port 8082
User ID
root
Password
drrobot
Advanced Network Settings
You could also change the Wireless AP/router settings such as IP and SSID etc., if you need to do so, you are
required to change the network settings on the Ethernet modules on the robot by following the guidelines as
illustrated on the Ethernet Module manual.
Please contact [e-mail] if you need further support.
Hardware Architecture
The diagram below illustrates the inter-connection between the core electronic circuits and modules (some are
optional accessories).

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Antenna
Communication
Power
5V
Head Light
Control
Motion Sensing Controller (Jaguar Ver.)
Ethernet Module 1
Port 10001
Port 10002
Power 3.3V
Laser Scanner
9 DOF IMU (Gyro/
Accelerometer/Compass)
GPS Module
Camera (AV)
Wireless AP/Router
LAN
Power 12V
Power 5V
Antenna
Head Lights
DC-DC Power Board
5V
5V
5V
3.3V
Control
Port
Power
IN
Charging
Plug
ON
LiPo 22.2V
10AH
Host Control
PC
Head Mount
Display
Gamepad
Controller
Main Switch
Left Rear Motor
Left Front Motor
Right Rear Motor
Right Front Motor
Motor Driver
Board #1
Motor Control Channal0
Motor Driver
Board #1
Motor Control Channal1

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Jaguar 4x4 Wheel Base System
Motor Driver Board
Two motor driver boards are used, one for the left and right track/wheel motors while the other one is for the arm
motor.
Input power
H-Bridge 2 channels
Max current
up to 10A continuous power per channel, peak up to 20A per channel for a few seconds
Input voltage
6~24V, 30V absolute max
Motion and Sensing Controller
PMS5006 board is based on ARM Cortex-M4 controller. It will work as a main control center. Receive remote PC
control command and send back all the sensor data, including IMU sensor, GPS module data and all the motor
sensors, such as motor encoder, motor temperature, and motor driver board state.
Input power
5V
Motor Control Channel
Channel 0 will control front motors and channel 1 will control rear motors.
Motor control mode
Open Loop control; Velocity control; Position control
Camera
Input power
5V
Lens
4.4mm: 47° horizontal view, F2.0, fixed iris, fixed focus
Light sensitivity
1-10000 lux, F2.0
0 lux with headlights LED on
Resolutions
640x480 to 160x120
Frame rate
H.264: 30 fps in all resolutions
Motion JPEG: 30 fps in all resolutions
MPEG-4 Part 2: 30 fps in all resolutions
Video compression
H.264 (MPEG-4 Part 10/AVC), Motion JPEG
MPEG-4 Part 2 (ISO/IEC 14496-2)
Audio streaming
Two-way
Other features
PIR motion sensor with configurable sensitivity. Max range: 6 m
GPS
Input power
5V
Update rate
5Hz
Sensitivity
- 185dBW minimum
Accuracy
Standard GPS service: Position: <= 15m 95% typical
Velocity: 0.1knot RMS steady state
WAAS service: Position: <= 3m 95% typical
Output Interface
NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG
Binary Output
9 DOF IMU (Gyro, Accelerometer & Digital Compass)
Input power
5V

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Gyro Sensors
ITG3205 Triple-Axis digital output gyro sensor
Accelerometers
3 Axis
ADXL345
13bit resolution
Max +/-16G
Magnetic Compass
3 Axis HMC5883L magnetometer
Output Frequency
50Hz(Gyro an Acceerometers)
Output all sensor raw data and processed data by on-board MCU through serial port
Laser Scanner
Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
Input power
5V
Detectable range
0.02-4m
Accuracy
0.02 to 1m: +/- 10mm
1 to 4m: 1%
Measurement Resolution
1mm
Angular Resolution
approx. 0.36 o (360 o/1024 partition)
Scanning angle
240o
Input power
12V
Detectable range
0.1-30m
Accuracy
0.1 to 10m: +/- 30mm
Measurement Resolution
1mm
Angular Resolution
approx. 0.25 o (360o/1440 steps)
Scanning angle
270 o
Batteries
Battery type
Li-Po
Rated Voltage
22.2V (12 cells, 3.7V/cell)
Capacity
20Ah
Discharge rate
Max 50A continuous, Max 100A peak
Max charge rate
10A
Cycle life
500-1000 times
Charger
Charger type
LiPo Charger
Maximum charge current
2A
Maximum discharge current
2A
Power Input
100-240V