Dr Robot Jaguar4x4Wheel User manual

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V25.08.18.Q
All-Terrain Autonomous Navigation Robot with GPS-IMU
Jaguar4x4Wheel
UserGuide
Install Fuse; Charge the battery pack
before use

Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V25.08.18.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 V25.08.18.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 14
IV. Hardware and Electronics 15
Network Settings 15
Wireless Router Setting 15
Device Default Network Settings 15
Advanced Network Settings 15
Hardware Architecture 15
Motor Driver Board 17
Motion and Sensing Controller 17
Camera 17
GPS 17
9DOF IMU (Gyro, Accelerometer & Digital Compass) 17
Laser Scanner 18
Batteries 18
Charger 18
Powertrain (motor, speed-reducer and encoder) 18
V. Further Development & Programming 18
The Jaguar Control program 18
Motion Control/Sensing System 19
Laser Scanner 19
GPS 19
9 DOF IMU (Gyro/Accelerometer/Compass) 19
Camera with Two Way Audio 19
Option: 4-Pin Extensional Power Socket –12V 20
Advanced Development 20

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I. Specifications
Jaguar-4x4-wheel Mobile Robotic Platform is designed for indoor and outdoor operation requiring higher ground
clearance and faster maneuverability. Jaguar-4x4-wheel platform is a wheeled version of the Jaguar-Lite
platform. Jaguar-4x4-wheel is driven by four powerful (80W) motors, one for each wheel. Jaguar-4x4-wheel
platform is rugged, light weight (< 20Kg), fast (max 14km/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
155mm and climbing up low rise stairs (up to 110mm step). Jaguar-4x4-wheel is fully wirelessly (802.11G)
connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) for autonomous
navigation. The integrated high resolution video/audio and laser scanner (optional) 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.
Key Features
Rugged and reliable mobile platform for indoor and outdoor applications with faster maneuverability (max 14Km/hr)
and high ground clearance
Indoor and outdoor operation requiring higher ground clearance and on tough terrains
Weather and water resistant enclosure
Climbing up > 45° slope and stairs (max 110mm or 4.5”)
Light weight (< 20Kg) and compact design with large payload capacity
Autonomous navigation with outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Managing max 155mm (6”) vertical step (obstacle)
Surviving max 1200mm (4ft) drop to concrete
Integrated Laser scanner (Optional)
Integrated high resolution video camera with audio
All 802.11G (optional 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
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio,
Microsoft® Visual Studio, NI LabVIEW®, MATLAB®, Java®
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 –14Km/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 +50°
Shock resistant chassis
Drop to concrete: Max: 1200mm (4ft) Rated: 900mm (3ft)

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Motion and sensing controller (PWM, Position and Speed Control)
5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Laser scanner (4m or 30m) (Optional)
Temperature sensing & Voltage monitoring
Headlights
Color Camera (640x480, 30fps) with audio
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 10AH
LiPo battery charger
Nominal operation time: 2 hours (Optional 4 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: 265mm (10.5”)
Width: 573mm (22.5”)
Length: 615mm (24”)
Weight: 20.5Kg (Standard Configuration)
Carrying Payload (on flat surface): max 30Kg
Dragging Payload (on flat surface): max 50Kg
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
Visual Studio, ROS, NI LabVIEW®, MATLAB® and Java®

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Jaguar Core Components
JAGUAR4x4W-ME
Jaguar 4x4 Wheel Chassis (including motors and encoders)
1
PMS5006
Motion and Sensing Controller
1
WFS802
Serial to Network Module
1
DMD1202
10A (peak 20A) Dual-channel DC Motor Driver Module
2
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
802.11b/g wireless AP/router
1
BPN-LP-10
22.2 V 10 AH LiPo Battery Pack
1
LPBC5000
2A LiPo Battery Charger
1
GPC0010
Gamepad Controller
1
Main Upgrade Options
Laser Scanner (Range 4m) for Indoor Application
LAS04M
Laser Scanner (Range 5.6m) for Indoor Application
LAS04M
Laser Scanner (Range 30m) for Outdoor Application
LAS30M
22.2V 20 AH Li-Polymer Battery Pack Upgrade
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.
Jaguar-4x4-Wheel Platform
GPS and 9 DOF IMU
(Gyro/Accelerometer/Compass)
Camera
Laser Scanner
Recharging Socket
Power Switch
Headlights
WiFi Antenna
Handle Bar

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Operation Scenario
Diagram below illustrates the typical operation scenario. The Jaguar-4x4-wheel 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-4x4-wheel 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.
Head-mounted display
(Optional)
Portable PC (Host controller PC)
(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-4x4-wheel, 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”
It will read all the configuration information from “outdoorrobotconfig.xml” under
c:\DrRobotAppFile\.
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 a 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.
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

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Enable Collision Avoidance
* When the "CA" checkbox is
checked, the program will
limit the maximum output
PWM to 65% full power.
Polar Sensor Map
Blue: Gamepad Driving Direction
Yellow: Driving Direction
(Modified by sensor map)
information on Google Earth and IMU raw data on the chart 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 Control
Note: when using Gamepad control, you need to make sure the program window is in “focus”.
Headlight On/OFF
Wheel
Forward / Backward Control
Minimize/Maximize camera
display
EStop Robot
Wheel
Turning Control
Release EStop

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When is clicked, it will display laser scanner data in polar view as shown below.
Battery information and motor information
is displayed here. If the robot uses the included Li-Po 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 when measured motor temperature is higher than
the safety threshold (we recommend this feature is enabled for normal operation); When de-selected, this motor
over-heat protection feature is disabled.
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)
On normal program exit, Google Earth will be closed. However, you should double check using “Windows Task
Manager”; otherwise, you may not be able to display Google Earth when you start Jaguar control program again.

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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 screws of 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.
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 below image.
*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 is connect 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 Operating 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
Port Number 10001, TCP 115200. 8, N, 1,flow control
Port 2
Port Number 10002, TCP 19200. 8, N, 1, no flow control
Camera
192.168.0.65 Port 8081
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 5V
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
OFF

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Motor Driver Board
The left front and left rear motors are connected to the 1st channel on the motor driver board while the right front
and right rear motors are connected to the 2nd channel.
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
9DOF IMU (Gyro, Accelerometer & Digital Compass)
Input power
5V
Gyro Sensors
ITG3205 Triple-Axis digital output gyro sensor
Accelerometers
3 Axis
ADXL345
13bit resolution
Max +/-16G

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Magnetic Compass
3 Axis HMC5883L magnetometer
Output Frequency
50Hz
Output all sensors raw AD data, magnetic sensor will be measured every 220ms
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
12 V
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 (6 cells, 3.7V/cell)
Capacity
10Ah
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
Powertrain (motor, speed-reducer and encoder)
The following specifications are defined at the output shaft after speed-reduction.
Drive wheel shaft
Track-wheel motors (4 units)
DC motors with steel gearbox
Motor rated voltage
24V
Motor rated current
2.75A
Motor max current
16A
Shaft rated speed
290RPM
Shaft rated torque
8.5Kg.cm
Shaft encoder resolution
300 counts per revolution
V. Further Development & Programming
The Jaguar Control program
The Jaguar Control program is written with Visual Studio 2010 (in C#) under .Net 3.5 framework.

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The control program uses the supporting components and libraries that should have been installed when you
install the control program from the installation CD:
AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera
(P/N: AXCAM) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.
Motion Control/Sensing System
Based on the protocol, you could develop your own program for any operation system. You could request
protocol sample code from Dr Robot using C++/Java, Matlab, and ROS. You should also contact Dr Robot with
any questions regarding protocol.
The communication port is connected at Ethernet module-I port 1.
Control program will connect to this board at 192.168.0.60, port 10001 by TCP socket.
You could find the source code(C#)of control program under the installation folder on your PC.
Laser Scanner
Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level
conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.60.
Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002
Date and communication protocol could be found in manufacture website.
GPS
GPS sensor output interface is RS232 serial port, and connected to Ethernet module-2 port 2 after voltage level
conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.61.
Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002
NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is
SNSRXCFG_200.exe
9 DOF IMU (Gyro/Accelerometer/Compass)
IMU sensor message will be ended with “CRLF”(\r\n”).
Format:
“$seq,Yaw,0.3,Gyro,gyroX,gyroY,gyroZ,Accel,accelX,accelY,accelZ,Comp, magX,MagY,magZ,(reserved text”
"seq" is data package sequence number, value is in range: 0 ~255.
After “Yaw”, the value will be the estimate robot heading angle. You could use it or estimate the heading by raw
gyro, accelerometer, compass and GPS sensor data. The unit is radian.
After “Gyro”, the data will be 3-axis raw gyro sensor data.
After “Accel”, the data will be 3-axis raw accelerometer sensor data.
After “Comp”, the data will be 3-axis raw compass sensor data.
Camera with Two Way Audio
You need to install the camera ActiveX control on your system by running the “AXISMediaControlSDK.exe”. You
could find some sample codes (C++, C#, VB) in C:\Program Files\Axis Communications\AXIS Media Control

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SDK\samples and the corresponding SDK documents in C:\Program Files\Axis Communications\AXIS Media
Control SDK\doc.
By using the Microsoft’s “Windows Media Encoder 9” and Axis video capture driver, you could also access this
camera in Intel’s OpenCV as same as accessing a USB camera.
Option: 4-Pin Extensional Power Socket –12V
Pin 1, Pin2 (+12V OUT)
Wire: White/Brown +
Pin3, Pin4 (-12VOUT)
Wire: Blue/Black -
Advanced Development
Please refer to document “GPS-IMU Sensor Module and Outdoor Autonomous Navigation Program” for detail on
autonomous navigation programming using the Jaguar GPS and IMU system module.
Support and sample codes are available for using OpenCV, LabVIEW and MATLAB. Please contact
[email protected]om for further information.