Dr Robot Jaguar V6 User manual

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.03.02.18.Q
All-Terrain Autonomous Navigation Robot with GPS-IMU
JaguarV6withManipulatorArm
User Guide
Install Fuse; Charge the battery pack
before use

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.03.02.18.Q
WARNINGS
Do NOT power on the robot before reading and fully understanding the
operationproceduresexplainedinthismanual.
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
peopleduringoperation.
Failure to follow these warnings could cause serious injury or death and/or
damagetotherobot.

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.03.02.18.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 8
Main Upgrade Options 8
II. Knowing Your Robot 9
Overlook 9
Operation Scenario 10
Software Installation 10
III. Operation of Jaguar Robot 11
Turn on/off the Platform 11
Using Dr Robot Jaguar Control Program 11
Recharging 19
IV. Hardware and Electronics 20
Network Settings 20
Hardware Architecture 21
Jaguar V6 Base System 23
Jaguar Manipulator Arm System 25
V. Further Development & Programming 26
The Jaguar Control program 26
Advanced Development 29

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I. Specifications
Jaguar V6 Mobile Robotic Platform with manipulator arm is designed for indoor and outdoor applications
requiring robust maneuverability, terrain maneuverability and object manipulation. It comes with four articulated
arms and is fully wirelessly 802.11N connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/
Compass) for autonomous navigation. Jaguar V6 platform is rugged, light weight (< 30Kg), compact, weather and
water resistant. It is designed for extreme terrains and capable of stair or vertical climbing up to 300mm with
ease. The 4 articulated arms could convert the robot into various optimal navigation configurations to overcome
different terrain challenges. The integrated high resolution video/audio and optional laser scanner provide remote
operator detail information of the surrounding. Besides the ready to use control and navigation software, a full
development kit including SDK, data protocol and sample codes, is also available.
The integrated rugged 3+1DOF robotic manipulator (Jaguar Arm) is designed for compact mobile robots. It is light
on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with maximum reach of
over 707mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg. Wrist mounted color
video camera provides high resolution (720 x 480) close-up view. Jaguar Arm is ideal for object inspection and
handling. It could also work as an articulated sensor platform. Integrated software features 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 mobile robot, Jaguar Arm could achieve full 6DOF, and reach virtually any
position and at any orientation within its allowed working space.
Key Features
Rugged and reliable mobile platform for indoor and outdoor applications with robust maneuverability
With Four articulated arms that could convert the robot into various navigation configurations to overcome
different terrain challenges
Indoor and outdoor operation requiring higher ground clearance and on tough terrains
Weather and water resistant enclosure
Climbing up > 55° slope or stairs (max 300mm or 12")
Light weight (< 41Kg with manipulator arm) and compact design with large payload capacity
Autonomous navigation with outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Managing max 300mm (12") vertical step (obstacle)
Integrated Laser scanner (Optional)
Integrated high resolution video camera with audio
All 802.11N wirelessly connected
Head mounted display (optional) and Gamepad controller providing outdoor operation with large and clear
view even under direct sunlight
Ready to use control and navigation software
Rugged robotic arm (3DOF + 1DOF gripper) for compact mobile robots
707mm (28 in) reach with max 4Kg payload
Wide gripper opening (150mm/ 6 in)
Integrated joint-space and gripper Cartesian space arm control
Wrist mounted camera providing high resolution (720x480) close-up view
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio,
Microsoft® Visual Studio, ROS, NI LabVIEW®, MATLAB®, Java®

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Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry
Slope: > 35°
Maximum vertical step: 300mm (12”)
Stair climbing: Max stair step height 300mm (12”)
Traverse: > 360mm (14”)
Four articulated arms
Speed: 0 –5Km/hr
Turning radius: 0, min 850mm (33.5”) diameter of turning space
Ground clearance: 38mm (1.5”); Max 150mm (6”) with Stand-Up Arms
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 +50°
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 on base
Color Camera (720x480, 30fps) on manipulator
WiFi802.11N
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

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Track Motors (24V): 4 units
Max output (after gear down) (x2): Max 80W, 200Kg.cm/track
Rated current: 2.85A, Max current: 18A
Flipper Motor (24V): 2 units
Max output (after gear down): Max 80W, 450Kg.cm
Rated current: 2.75A, Max current: 16A
Height: 400mm (15.7”) (manipulator at rest)
Width: 700mm (27.6”)
Length: 980mm (38.5”) (extended arms) / 640mm (25.2”) (folded arms)
Weight: 41Kg (Standard Configuration)
Carrying Payload (on flat surface): max 10Kg
Dragging Payload (on flat surface): max 30Kg
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
Visual Studio, ROS, NI LabVIEW®, MATLAB®, Java®

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Jaguar Core Components
JAGUARV6-ME
Jaguar V6 Chassis (including motors and encoders)
1
JAGUARARM
Jaguar Manipulator Arm
1
PMS5006-JV6
Motion and Sensing Controller (Jaguar V6 Version)
1
WFS801
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
WRT802N
802.11N wireless AP/router
1
BPN-LP-20
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 4m) for Indoor Application
LAS04M
Laser Scanner(Range 5.6m) for Indoor Application
LAS56M
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
Indoor GPS
SG-NAV
On-board Tablet PC
MSSURPRO
PTZ Camera
CAMA2156
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 and optional components that you will identify on the Jaguar V6 robot.
Jaguar V6 with Manipulator Arm Platform with Options
Handle Bar
*Options
Power Switch
Outdoor GPS
Joint 2
Front Camera
* Front Laser Scanner
Headlights
Front Arm-Track
Drive-Track
Rear Arm-Track
*Long Range WiFi Antenna
Joint 3
Joint 1
Gripper
Arm Camera
IR Light
* 4-Pin, 8-Pin
Power-out
Socket
Battery Pack
* Ethernet
Connector
Joint 5
Joint 6
LED Flashlight

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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 installed from CD.
Install all the supporting program from the “third party” folder in the CD.
Portable PC (Host controller PC) or
On-board 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” (Note: You need to install
Google Earth program and other third party program first).
Turn on/off the Platform
Please follow the steps below to power up the robot.
1. Turn to release the red button.
2. Press and hold the start button for about 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.
* To power off the robot, push down the red button, 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 flipper arms 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 camera.
Once you start this program, you will see a “Login Window”

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When “Connect Robot” is clicked, it will try to connect to the
Robot.
Google Earth is then loaded (this may take a while).
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.
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 GPS&IMUchart boxes.
When camera is presented, the video and AV control buttons will be shown in the video window.
After the program starts up, the motor driver board is in the “Estop” state due to the safety reason. You need use
“EStopWheel” button to release the motor driver board from emergency stop state.
You also need switch to ‘FlipArm” tag and click “ESTOP_F” button to make sure
is not in “+ESTOP” state.
Same as the rear flip arm, please make sure Rear Driver State is not in “+ESTOP” state. After that it should look
like below:
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.

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Gamepad Controller
Note: when using Gamepad controller, you need to make sure the program window is in “focus”.
All the Flipper Arms on the robot are independently controlled.
Here we use keyboard to control each arm.
Key
Functions
“Q”
Left Front Flipper Arm Up
“A”
Left Front Flipper Arm down
“W”
Right Front Flipper Arm Up
“S”
Right Front Flipper Arm down
“O”
Left Rear Flipper Arm up
“K”
Left Rear Flipper Arm down
“P”
Right Rear Flipper Arm up
“L”
Right Rear Flipper Arm down
“Z”
Set Flipper Arm initialize position
“X”
Set front flipper arm to same position
“M”
Set Rear flipper arm to same position
“E”
Set Front flipper arms to up 30 degree
“D”
Set Front flipper arms to down 60 degree
“I”
Set rear flipper arms to up 30 degree
Manipulator arm
Gripper open
Manipulator Arm Gripper
close
Manipulator Arm Pan Left
Manipulator Arm Wrist Tilt
Down
Jaguar Forward /
Backward Control
Manipulator Arm Joint3
turn to left
Jaguar Turning Control
Manipulator Arm Joint1 Up
Manipulator Arm Pan Right
Manipulator Arm Wrist Tilt Up
Manipulator Arm Joint1 Down
Manipulator Arm Joint3
turn to right
Manipulator Arm Joint2 Up
Manipulator Arm Joint2 Down
Reset Manipulator Arm
Set Manipulator Arm Initial
position

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“J”
Set rear flipper arms to down 60 degree
“C”
Set front flipper arms to 0 degree(stretch to front)
Set rear flipper arms to 0 degree(stretch to back)
“Y”
Set Front Light On/Off
Initializing or resetting arm-track (flipper arm) position:
After powering up the robot, or when the actual arm position is different from the arm position window (shown on
the right), you should reset the arm-track (flipper arm) position as following:
drive the arm forward and being flat on the ground (as shown below), we call this initial or “0”
position (extend forward)
then, click the “Z”button on keyboard to save this value and to set initial position.
When is clicked (with optional laser scanner), it will display front laser scanner data in polar view as
shown below.

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Click “Turn on” and then “Scan” button. You could use track bar 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.
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. If the motor driver
board state is in the “ESTOP”, you need click “Estop
Wheel” button to release the board from emergency
stop state.
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.

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”FlipArm” tag will display all the information about
the front/rear flip arm motors and the state of the
flip arm motor driver board.
“Arm” tag shows Joints Angle Information and Control Value
* Arm J4 is Gripper
It would be better if you could make sure the manipulator arm is at “reset” position (shown in below picture)
before you turn on the robot.

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If the robot is already on, please drive each joint carefully to “reset” position and 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. This “reset”
process also will provide the motor protection based on mechanical limitation, so it should be mandatory.
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.
“Arm Driver3” tab will display motor driver 3
state(for optional pan unit).
The two horizontal track bars show the Gamepad controller’s left and right stick control value.

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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)
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.
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. Here is the procedure for using standard charging station, please refer to the
proper manual coming with the fast charger.
1) Push down the red button to turn off the robot
2) Loose the locking screws of the Battery Box, disconnect the 2-Pin battery 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 connectors to charger

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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”.
IV. Hardware and Electronics
Network Settings
Wireless Router Setting
The on-robot pre-configured wireless AP has the following pre-set settings:
PicoStation
SSID
KEY
IP
ID
Password
PicoStation-1: Local Wireless
Network(option)
DriJaguar
drrobotdrrobot
192.168.0.245
drrobot
drrobot
PicoStation-2: Long Range Wireless Bridge
(On Robot) (optional)
DriJaguarBridgeY
drrobotdrrobot
192.168.0.21
drrobot
drrobot
PicoStation- 3: Long Range Wireless Bridge
(Off Robot) (optional)
DriJaguarBridgeY
drrobotdrrobot
192.168.0.20
drrobot
drrobot
Note:
*PicoStation2,3workinpeertopeer(bridge)mode,andmustworktogether.Nootherdevicecouldconnect
withthiswirelessnetwork(DriJaguarBridge).
*YoucouldconnectPicostation3toyournetwork.Inthisway,yourlocalnetworkwillwirelessly bridge tothe
robot.
*On-boardPCcouldconnectwithwirelessnetwork"DriJaguar",(option)