K-Team Khepera IV Stargazer User manual

Khepera IV Stargazer
User manual
Version 1.1
February 2017

Documentation Author
Julien Tharin and Timothée Carron
K-Team S.A.
Z.I. Plans-Praz 28
133 Vallorbe
Switzerland
Email: [email protected]
URL: www.k-team.com
Documentation version
Version Date Author Description
1.0 12.09.2014 J. Tharin First draft
1.1 28.02.201 F.Lambercy
Remove remark about Gripper
Trademark Acknowledgements:
IBM PC : International Business Machines Corp.
Macintosh : Apple Corp.
S N Sparc-Station : SUN Microsystems Corp.
LabVIEW : National Instruments Corp.
Matlab : MathWorks Corp.
Webots : Cyberbotics Ltd
Logitech : Logitech Int. SA
Gumstix : Gumstix Inc.
Khepera : K-Team SA
Stargazer : Hagisonic co. Ltd
LEGAL NOTICE:
•The contents of this manual are subject to change without notice
•All efforts have been made to ensure the accuracy of the content of
this manual. However, should any error be detected, please inform K-
Team.
•The above notwithstanding, K-Team can assume no responsibility for
any error in this manual.

TABLE OF CONTENTS
1. INTROD CTION ............................................................... 1
1.1 H OW TO USE THIS HANDBOOK ........................................................ 1
1.2 S AFETY PRECAUTIONS ................................................................. 2
1.3 R ECYCLING .............................................................................. 2
1.4 S PECIFICATIONS ........................................................................ 3
2. NPACKING AND INSPECTION ......................................... 4
2.1 P ACKAGE C ONTENTS ................................................................... 4
2.2 I NSPECTION ............................................................................. 4
3. DESCRIPTION .................................................................. 5
3.1 O VERVIEW .............................................................................. 5
3.2 KSG H ARDWARE ....................................................................... 6
3.3 KSG S OFTWARE ....................................................................... 6
4. SAGE .............................................................................. 7
4.1 R EQUIRED HARDWARE / SOFTWARE ..................................................
4.1.1 R EQUIRED HARDWARE ............................................................
4.1.2 R EQUIRED SOFTWARE ............................................................
4.2 A SSEMBLY ............................................................................... 8
4.2.1 KSG ON THE ROBOT .............................................................. 8
4.2.2 L ANDMARKS SETTING ............................................................. 9
4.3 P OWER - UP AND TEST ................................................................ 10
4.3.1 T EST ............................................................................. 10
4.4 P ROGRAMMING THE KSG ........................................................... 12
4.4.1 I NSTALLATION OF THE LATEST LIBKHEPERA AND CONFIG . FILE ............ 12
4.4.2 U SING THE KSG WITH KGAZER _ TEST SOFTWARE .......................... 14
4.4.3 C OMPILING YOUR OWN PROGRAM USING THE LIBKHEPERA ................. 15
4.4.4 S OFTWARE EXAMPLE ............................................................ 22
5. WARRANTY .....................................................................24

1
1. INTROD CTION
Thank you for buying the Khepera IV Stargazer (abbreviated KSG in
this document)!
With this module, you will be able to have global position and bearing
of your Khepera IV robot.
1.1 How to use this handbook
This handbook introduces the KSG and its various operating modes.
For a quick start, jump to chapter 4 ”Usage”.
If this handbook does not answer one of the problems you wish to
solve, please consult the K-Team web site (http://www.k-team.com) and
especially the Forum and the FAQs.
•npacking and Inspection : KSG package description
•Description : KSG description
•sage : KSG usage descriptions
•Warranty : Legal notice.

2
1.2 Safety precautions
Here are some recommendations on how to correctly use the KSG:
•Keep the board away from wet area. Contact with water could
cause malfunction and/or breakdown.
•Store your board in a stable position. This will avoid the risks of
falling, which could break it or cause damage to a person.
•Do not plug any connectors while the board is powered
on. To avoid any damage, make all connections when the board
power is off.
•Never leave the KSG powered when it is unused. When you
have finished working with KSG, turn it off. It will save the battery
life.
1.3 Recycling
Think about the end of life of your product! Parts of the board can be
recycled and it is important to do so. By recycling you can help to create
a cleaner and safer environment for generations to come. For those
reasons please take care to the recycling of your product at the end of its
life cycle, for instance sending back the product to the manufacturer or to
your local dealer.
Thanks for your contribution to a cleaner environment!

3
1.4 Specifications
The main specifications of the KSG board are listed below:
Range max :2.5-3 m of diameter with 1 landmarks (for ceiling
height of 2.4 m*
1
)
Accuracy : 3.5 cm / 3 degrees *
2
Measurement time : 10 times /sec
Autonomy : 2h30 ; Li-Pol battery
Dimensions : 85 width x 80 depth*
3
x 56 height*
4
[mm]
Mass : 11 g
Compatibility : Khepera IV extensions (KB-250 specifications)
*1 : ceiling height can be from 1.1 to 6.0 m but with different landmarks; range may vary
*2 : with a homogenously flat floor
*3 : with cables
*4 : without lower ERNI connectors (as plugged)

4
2. NPACKING AND INSPECTION
2.1 Package Contents
Figure 1: View of the StarGazer module
Your package should contain the following items:
1. KSG board
2. DVD with software and this User Manual*
* Updates can be found at http://www.k-team.com/
2.2 Inspection
First, check that you have a complete package. You should find:
•the KSG module
•CD with
oThis user manual
oThe Libkhepera library software
Then, check that the wires connecting the Stargazer to the battery module
are connected and not in bad shape.

5
3. Description
3.1 Overview
An overview of the KSG hardware is depicted in the Figure 3.1. The
locations of various key elements are indicated for later references.
Figure 3-1: KSG overview – top view
Figure 2: KSG overview
battery
Stargazer module
battery module
y
x
α
axis of rotation of the robot
connector to robot
BACK
FRONT

6
3.2 KSG Hardware
The KSG module is composed of a Stargazer position module from
Hagisonic co. Ltd and the K4LFSG battery module. There are also landmarks
to put on the ceiling.
The Stargazer module has IR LEDs for lighting landmarks and a camera
for capturing the image, which is processed by onboard electronics. It
computes position and bearing related to landmarks stuck on the ceiling.
The K4LFSG battery module is composed of a battery and electronics for
managing its charge and connections to the robot. The module is ON at
startup, and OFF when the Khepera IV is OFF.
3.3 KSG Software
The position and bearing are computed internally in the Stargazer and they
are communicated through the serial port (/dev/ttyS2) to the robot using
several commands.
For the ease of use, functions were developed and included in the
Libkhepera library. A test program named kgazer_test is also provided. It
initializes the module and displays the position in an ASCII x-y graph. The
robot can be controlled with the keyboard arrows.
The parameters of the KSG are saved into the KSG and remain even after
power OFF/ON. The exception is the calibration parameter.