MobileRobots Pioneer Arm User manual

Pioneer Arm Manual
with NEW!
AKIN Arm Kinematics Software

© 2007 MobileRobots Inc. All rights reserved.
This document, as well as the software described in it, is provided under license and may only be used
or copied in accordance with the terms of the respective license.
Information in this document is subject to change without notice and should not be construed as a
commitment by MobileRobots Inc.
The software on disk, CD-ROM and firmware which accompany the robot and are available for network
download by MobileRobots customers are solely owned and copyrighted or licensed for use and
distribution by MobileRobots Inc.
Developers and users are authorized by revocable license to develop and operate custom software for
personal research and educational use only. Duplication, distribution, reverse-engineering or
commercial application of MobileRobots software and hardware without license or the express written
consent of MobileRobots Inc. is explicitly forbidden.
PeopleBot™, AmigoBot™, PowerBot™, PatrolBot™, ARCSinside™, SetNetGo™, MobilePlanner™,
MobileSim™ and MobileEyes™ are trademarks of MobileRobots Inc. Other names and logos for
companies and products mentioned or featured in this document are often registered trademarks or
trademarks of their respective companies. Mention of any third-party hardware or software
constitutes neither an endorsement nor a recommendation by MobileRobots Inc.
Pioneer Arm Manual ●Version 7.1 ●January 2007
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MobileRobots Inc.
Important Safety Instructions
9Read the installation and operations instructions before using the equipment.
9Avoid using power extension cords.
9To prevent fire or shock hazard, do not expose the equipment to rain or moisture.
9Refrain from opening the unit or any of its accessories.
9Keep equipment away from hair or fur.
Inappropriate Operation
Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to:
9Dropping the equipment
9Overloading the Arm above its payload capacity
9Getting the equipment wet
9Continuing to run the equipment after hair, yarn, string, or any other items have become
wound in one or more of its joints
9All other forms of inappropriate operation or care
Use MobileRobots authorized parts ONLY;
warranty void otherwise.
iii

Table of Contents
CHAPTER 1 INTRODUCTION ..................................................................................................................... 1
THE PIONEER PLATFORM ............................................................................................................................ 1
THE PIONEER ARM..................................................................................................................................... 1
CONTROL HARDWARE AND SOFTWARE ......................................................................................................... 2
ARM PACKAGE .......................................................................................................................................... 2
Basic Components (all shipments)....................................................................................................... 2
User-Supplied Components / System Requirements.......................................................................... 3
ADDITIONAL RESOURCES ............................................................................................................................ 3
Software ................................................................................................................................................. 3
Newsgroups ........................................................................................................................................... 3
Support................................................................................................................................................... 4
CHAPTER 2 INSTALLATION & OPERATION .............................................................................................. 5
MOUNTING THE ARM TO YOUR PIONEER ROBOT............................................................................................. 5
POWER TO THE ARM................................................................................................................................... 6
Arm Safely at HOME .............................................................................................................................. 6
CONFIGURATION ........................................................................................................................................ 6
ARM AND ARM KINEMATICS DEMONSTRATIONS ............................................................................................ 7
P2ArmDemo........................................................................................................................................... 7
ArmServer and ArmApplet.jar ............................................................................................................... 7
SAFETY WATCHDOGS.................................................................................................................................. 8
Power and Connection-Related Automatic Shutdown ........................................................................ 8
Timed Shutdown.................................................................................................................................... 9
Gripper Release Timer .......................................................................................................................... 9
Warm Reset ........................................................................................................................................... 9
CHAPTER 3 SOFTWARE AND PROGRAMMING ..................................................................................... 10
Generic versus Server Programming..................................................................................................10
GENERIC CONTROLS................................................................................................................................. 10
Generic Command Syntax...................................................................................................................10
Generic Commands.............................................................................................................................10
Generic Command Communications .................................................................................................11
PIONEER CONTROLLER ARM SERVERS ....................................................................................................... 11
Client Commands ................................................................................................................................11
INFO and ARMINFOpac .......................................................................................................................12
POWER .................................................................................................................................................12
STATUS and ARMpac ..........................................................................................................................13
SPEED and POS ...................................................................................................................................13
SPEED Limits .......................................................................................................................................14
HOME and PARK.................................................................................................................................14
INIT, CHECK, and Warm Reset Protocol.............................................................................................14
ARIA AND ARAKIN ARM SUPPORT............................................................................................................ 15
ArP2ArmSimple, ArAKinDemo and ArAKinExample .........................................................................16
CHAPTER 4 ARM FLASH PARAMETERS................................................................................................ 17
FIRMWARE TOOLS AND PARAMETERS ........................................................................................................ 17
Installing the FLASH Utilities...............................................................................................................17
CONFIGURING PIONEER ARM OPERATING PARAMETERS............................................................................... 17
Step 1. Serial Connection from Computer to Robot..........................................................................18
Step 2: Enable FLASH (C166 only).....................................................................................................18
Step 3: Put Controller into Maintenance Mode (P2OS and AROS only)...........................................18
Step 4: Run the cf Program ................................................................................................................18
Step 5: Changing Arm Configuration Parameters .............................................................................19
Step 6: Save Your Work.......................................................................................................................19
EDITING THE ARM PARAMETERS ................................................................................................................ 19
CHAPTER 5 MAINTENANCE & REPAIR..................................................................................................21
FACTORY REPAIRS ................................................................................................................................... 21
APPENDIX A............................................................................................................................................. 22
WARRANTY & LIABILITIES...................................................................................................................... 23
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MobileRobots Inc.
Figure 1. The Pioneer Arm on
a 3-DX
IntroductionChapter 1
Congratulations on your purchase of MOBILEROBOTS’ multi-jointed
robotic arm for the Pioneer family of mobile robots.
This manual provides both the general and technical details you
need to operate your Pioneer Arm and to begin developing your
own control software integrated with other mobile robot
activities.
The Pioneer Platform
Pioneers are small, intelligent mobile robots. The basic Pioneer platform contains all of the
components of an intelligent mobile robot for sensing and navigation in a real-world environment,
including battery power, drive motors and wheels, position encoders, and range-finding ultrasonic
sonar transducers—all managed via either a Siemens C166-, an Hitachi H8S-, or a Renesas SH2-based
controller board.
Pioneer DX models are two-wheel, differential-drive mobile robots intended for indoor, albeit less-than-
ideal surface operation (wheelchair accessible areas, for example). Performance PeopleBot™, too, is
a Pioneer differential-drive robot. Its tall body is for human interaction studies and applications. The
Pioneer AT is a four-wheel drive, differential skid-steering version intended for outdoor, all-terrain (AT)
operation. Technically, the Pioneer platforms are nearly identical and share accessories, including the
Pioneer Arm.
All Pioneer robots come with onboard robotics server software. These operating systems have an
open API for client control of the robot’s systems and accessories. Users access the onboard servers
through an RS-232 serial communication port from their client workstation connected wirelessly, or
tethered via a piggyback laptop or integrated onboard PC. See your robot’s Operations Manual for
details.
The Pioneer Arm
The Pioneer Arm is a relatively low-cost robot accessory for use in research and in the classroom.
Driven by six open-loop servo motors, the five degrees-of-freedom (5-DOF) Pioneer Arm’s end-effector
is a gripper whose foam-lined fingers allow for firm grasp and manipulation of objects as large as a
soda can and as heavy as 150 grams throughout the arm’s envelope of operation.
Joints include:
9rotating base
9pivoting shoulder
9pivoting elbow
9rotating wrist
9pivoting gripper mount
9gripper fingers
All servo-driven joints, except for the gripper fingers, pivot or rotate at least 180 degrees. Mounted to
the front of the robot’s top plate, the Pioneer Arm has a very wide envelope of operation, reaching 50
centimeters from the center of its rotating base to the tip of its closed fingers. The Pioneer Arm’s
reach, therefore, lets you pick up objects from the floor in front of your Pioneer robot and place them
on its back.
1

Introduction
Figure 2. The Pioneer Arm’s horizontal reach
Control Hardware and Software
The Pioneer Arm comes with its manufacturer’s PIC-based controller and servo-driver hardware and
software. These are housed inside the DX on top of the battery box or inside a special accessory box
that is mounted at the rear of the AT or Performance PeopleBot robot’s top-plate.1
The Pioneer Arm’s controller is attached to one of your robot controller’s AUX serial ports. Its
operation is supported by generic (“pass-through”) serial commands, as well as dedicated Pioneer Arm
servers as part of the controller’s embedded system software. Your client software communicates
with and controls the Arm through these servers.
Develop integrated robotics client software for the Pioneer platform overall and including the Arm with
MOBILEROBOTS’ Advanced Robotics Interface for Applications (ARIA). ARIA with ArP2Arm C++-language
sources comes with the robot as is available for updates and downloads from the MOBILEROBOTS
support website, http://robots.MobileRobots.com.
In addition, the Pioneer Arm now comes bundled with ARIA-integrated inverse kinematics software
(Arm Kinematics; AKin), as licensed from Fachhochschule Trier University of Applied Sciences. Simply
provide the 3-D position for the gripper end-effector and let AKin do the work. ARIA and ArAKin come
with several demonstration clients that you may modify and use to create your own mobile-robotic arm
software.
Windows® users also get standalone Arm Server software with a Java-based GUI demonstration
application (ArmServer and armApplet.jar) from Fachhochschule Trier.
Arm Package
Your Pioneer Arm is factory installed. Our experienced manufacturing staff put your Pioneer Arm and
its support accessories through a “burn in” period and carefully tested them before shipping the
products to you. We detach the Arm from the robot and ship them separately for safety.
Even though we’ve made every effort to make your Arm package complete, please check the
components carefully after you unpack them from the shipping crate.
Basic Components (all shipments)
9This manual
9Arm calibration sheet
9One fully assembled Pioneer 5-DOF Arm
9Arm control electronics, signal and power cabling installed in your robot
2
1Retrofitted DXs get the external control box, too.

MobileRobots Inc.
9Mounting hardware and cabling
9CD-ROM containing controller software for Arm support, Arm demonstration and development
software, and documentation
User-Supplied Components / System Requirements
9Tools for attaching the arm to the robot2
9Client-side PC and robot software
Additional Resources
All new MOBILEROBOTS customers get three additional and valuable resources:
9A private account on our Internet server for software, updates, and manuals
9Access to private robotics newsgroups
9Direct access to the MOBILEROBOTS technical support team
Software
Figure 3. Pioneer Arm's vertical reach
We maintain a 24-hour, seven-day per week Web server where customers may obtain software and
support materials:
http://robots.MobileRobots.com
Some areas of the website are restricted to licensed customers. To gain access, enter the username
and password written on the Registration & Account Sheet that accompanied your MOBILEROBOTS
platform.
Newsgroups
We maintain several email-based newsgroups through which robot owners share ideas, software, and
questions about the robot and accessories, such as your new Arm. Visit the support
http://robots.MobileRobots.com website for more details.
To sign up for pioneer-users, for example, send an e-mail message to the –requests automated
newsgroup server:
To: [email protected]
3
2The required tools, particularly the hex wrenches, come with the robot.

Introduction
From: <your return e-mail address goes here>
Subject: <choose one command:>
help (returns instructions)
lists (returns list of newsgroups)
subscribe
unsubscribe
Our SmartList-based listserver will respond automatically.
After you subscribe, send your email comments, suggestions, and questions intended for the
worldwide community of Pioneer users to the users group, NOT to the –requests address. For
example:3
To: [email protected]
From: <your return e-mail address goes here>
Subject: <something of interest to pioneer users>
Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam.
However, the list currently is unmoderated, so please confine your comments and inquiries to issues
concerning the operation and programming of Pioneer robots.
Tell us your robot’s SERIAL NUMBER.
Support
Have a problem? Can’t find the answer in this or any of the accompanying manuals? Or do you know
a way that we might improve our robots and accessories? Share your thoughts and questions directly
with us:
http://robots.MobileRobots.com/techsupport
Please include your robot's serial number (look for it beside the Main Power switch)we often need
to understand your robot's configuration to best answer your question. Your message goes directly to
the MOBILEROBOTS technical support team. There a staff member will help you or point you to a place
where you can find help.
3Notice that the –requests part of the email address is left out when sending messages to the newsgroup?
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MobileRobots Inc.
Chapter 2 Installation & Operation
The Pioneer Arm’s control electronics and server software are factory installed and configured, but the
arm is detached and shipped separately for safety.
Mounting the Arm to Your Pioneer Robot
After carefully unpacking and inspecting the Pioneer Arm, robot, and accessories, manually fold the
Pioneer Arm into its HOME position. Then secure the Arm to the prepared top plate at the front of your
robot:
CAUTION
Always align your Pioneer Arm into it’s HOME position before use.
1. Put the Pioneer Arm into its HOME position: The tip of the Arm’s V-shaped mounting base should
point towards the rear of the robot, and the arm should be folded towards the back of its base.
2. Use the hex wrench that came with your robot and one of the mounting screws to secure the
arm’s base tip to the robot’s top plate just in front of the access port. Freely rotate the arm
around its base to access the mounting holes.
3. Align the two other mounting holes on each side and at the front of the Pioneer Arm’s base plate
with their respective holes on the robot’s top plate and secure with the provided mounting screws.
4. Mate with the signal and power connector attached to the arm with the one that comes up
through the robot’s maintenance port on the top plate. Insert wired harnesses back into the body
of the robot.
5

Installation & Operation
Power to the Arm
Power for the Pioneer Arm’s controller comes from your robot’s batteries, as switched by Main Power.
Power to the Pioneer Arm servo joints is normally OFF and only switched ON from software by toggling
a digital output port in the arm controller.
For power conservation and safety reasons, the arm-servo power relay normally is deactivated.
Accordingly, all the joints are limp and easily rotated and swiveled manually. When engaged, the servo
motors will resist your efforts to move them.
Figure 4. Your Pioneer 2 Arm safely at HOME
When the Pioneer Arm servos get
power, all joints simultaneously and as
quickly as possible jump to their
positions last programmed into the
arm’s controller. If power is removed
from the servos, all the joints fall into
their mechanically limpest position.
Since the Pioneer Arm’s joint positions
cannot be known, they are assumed by
their generic controller to be in a
default center position. When you
apply power to the servos, the arm
thereby snaps fully extended into a
“salute” nowhere near any reasonable
limp configuration. This snap-to-salute
draws excessive power and can swing
the joints into nearby objects. 4
Arm Safely at HOME
On start up or reset, your robot
controller’s Arm servers establish
communication with the Arm’s
controller and reset the joints to be in a low-energy, folded HOME position. When limp in that same
position, no joint is far from its HOME position when servo power gets applied. This way, the snap-to-
position jolts characteristic of servo motors when first powered up are minimized.
Accordingly, when operating the Pioneer Arm, be sure to manually place it in its HOME resting position
before applying power to its servos, and be careful to have it resume its HOME position before removing
power. Failure to do so may cause damage to the Pioneer Arm or to nearby people, animals, lamps,
vases, undergraduates...
For additional safety, the Pioneer Arm normally should ride on the moving robot in its HOME resting
position with servo power OFF, unless involved in manipulation activities. It only makes good sense to
protect the arm from damage and to conserve power; the servos draw precious battery power while
holding a position as well as while moving, and the Pioneer Arm can go dangerously limp if you
carelessly withdraw power from it.
Configuration
We normally install and configure the Pioneer Arm at the factory. During that process, we enable the
Pioneer Arm servers in your robot’s controller. And we calibrate each arm joint to arm-unique
maximum, minimum, center, and HOME positions. All these details are saved in your robot controller’s
FLASH parameters and recorded on a document that comes with your robot and arm. If you move the
Pioneer Arm to another robot or if you change controllers, you’ll need to reset that robot’s FLASH
configuration.
Please consult a subsequent chapter in this manual concerning editing the FLASH parameters, as
needed. Note here that with C166-based controller with P2OS, you need to set in FLASH the
6
4Some may argue that this presents a fine opportunity to perfect your robot’s “dope slap” maneuver made famous by Click and
Clack, the Tappet Brothers, on their infamous National Public Radio show, Car Talk©.