RoboTiCan Komodo User manual
InnovativeRoboticsSolutions
Tableofcontents
Safetyinstructions
1.RobotSpecification
2.IncludedHardware
3.Gettingstarted
3.1DrivinginRCmode
3.2Usingtheonboardcomputertoruntherobot
3.3TurningtherobotOFF
2.Maintenance
2.1Batteries
4.Warranty
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Safety instructions
Safety in operation
Weight: Do not try to pick the robot by yourself, the robot is heavy. This may harm your back
andskeleton.Useatleasttwopeopletoholdtherobotofftheground.
Distance: Keep a safety distance of few meters between the robot and people when in
operation the robot is strong, heavy, and fast. If it may hit a person, it may cause a substantial
injury. Keep your arms, body, and face at least 1.5 meter away from the Komodo arm. The arm
maybeveryfastandstrong,anditmaycauseinjuryincaseofhittingsomeone.
Batteries safety
All the robot’s batteries are of the type LiFePo4. The safety characteristics inherent to LiFePo4
technology result from the incorporation of phosphates as the cathode material. Phosphates are
extremely stable in overcharge or short circuit conditions and have the ability to withstand high
temperatures without decomposing. When abuse does occur, phosphates are not prone to
thermal runaway and will not burn. As a result, LiFePo4 technology possesses safety
characteristics that are fundamentally superior to those of lithiumion batteries made with other
cathodematerials.
LiFePo4 technology does not contain any heavy metals and does not exhibit the "memory
effect" of NickelCadmium and Nickelmetal Hydride solutions. LiFePo4 technology
demonstratesexcellentshelflife,longcyclelifeandismaintenancefree.
Another key benefit of LiFePo4 technology is its flexibility, both in terms of battery
application and cell design. It can be used in wound cylindrical, wound prismatic and polymer
batteryconstructiontypesandmanufacturedtofitsmallerapplications.
The advantages of traditional lithiumion coupled with the safety features of phosphates,
make LiFePo4 technology the lithiumion technology for the future. The LiFePo4 technology
utilizes natural, phosphatebased material and offers the greatest combination of performance,
safety,cost,reliabilityandenvironmentalcharacteristics.
Emergency switch
Pulling the emergency switch out form the robot will cause the robot to
stop. The emergency switch only works when the robot running on PC
mode, that mean if you’re driving the robot manually in RC mode the emergency switch will not
stoptherobot.
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1. Robot Specification
TheKomodoMobileRoboticPlatformisdesignedforindoorandgoodweatheroutdoor
operation.TheKomodorobotusesskidsteeringformaximummaneuverability.The
Komodoplatformisrugged,lightweight,andcompact.Therobotisequippedwitha
wholesuiteofsensorsforautonomousnavigation.Followingaretherobot'sdetailed
specifications:
■ Size:59LX48WX30Hcm(withoutarm).
■ 4inflatablewheels,differentialdrive.
■ Wheelsdiameter:26cm
■ 2x250Wgearedmotors.
■ Highresolutionencoders(2048CountsPerRevolution)forclosedloopcontrol.
■ Weight:29Kg(withbattery,withoutarm).
■ Battery:24V/12AhLiFePo4(Chargingsocketavailableontherobot,Charger
included).
■ HManipulatorArm.
■BuiltinComputer,mainfeatures:
● 5thgenerationInteli5\i7processor.
● Upto16GBDDR3SDRAM.
● 120GBSSD.
●802.11acDualBandWiFi+Bluetooth4.0.
● IntelHDGraphics6000,MiniHDMIandMiniDisplayPortconnection.
● 2AvailableUSB3.0ports.
● GigabitEthernetNetworkconnection.
■Availablesensors:GPS,9DOFIMU(3Gyros,3Accelerometers,3
Magnetometers),Laserscanner,RGBD(Kinectlike)mountedonpantilt
system,3UltrasonicRangeFinders(URF)mountedonthesidesand
backoftherobot,Webcam,Speaker,Microphone.
■FullycompatiblewiththeROS(Robotoperatingsystem).
■ Maximumpayload:20Kg@20degreesslope.
■ Maximumspeed:4m/s.
■ MTBC:2Hour.
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2. Included Hardware
Theincludedhardwareintheboxis:
1. KomodoRobot.
2. CaseforKomodorobot(optional)
3. 24VLiFePO4Battery,
4. 24VLiFePO4Charger.
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3. Getting started
3.1 Driving in RC mode
Toturntherobotonanduseitasaremotelycontrolledvehicle(RCmode)dothefollowing:
● Turntheremotecontrolonusingitspowerswitch.Theindicationlightontheremote
shouldbelit.
● Onthebackoftherovermodule(thelowerone)turnthepowerswitchtoONposition
andturnthRCswitchtoON(1).
NowyoucancontroltheRoverusingtheremotecontrol.Becarefultherobotisverystrongand
veryfastbeverygentlewhenoperatingtheremote.
Therightjoystickwillcontroltherobot;pushthejoystickforwardinorderfortherobottomove
forward.Thespeedoftherobotisproportionaltothemovementofthejoystick.Movethe
joysticktotherightorleftinorderfortherobottoturnrightorleftrespectively.
Warnning:MakesurethatthePCisturnedoffwhiledrivnginRCmode.Donotusethe
RCmodewhilerunningtherobotROSsoftware.
3.2 Using the on‐board computer to run the robot
InthissectionwedescribetherequiredstepsinordertooperatetheKomodorobotusingits
onboardcomputer.
Toturntherobotondothefollowing:
● Connectakeyboardmouseandmonitortothebackconnectorspaneloftherobot.
● OnthebackoftherobotturnthemainPOWERswitchuptoonposition.Theblueledon
themainswitchshouldbelit.
● TurnthecomputeronbyclickingonthePCpowerbutton(thisisthebuttonjustunder
thepowerswitch),ashortpushisenough.
Whileoperatingtherobotonemayconnectthechargerandworkdirectlyfromtheelectric
outlet,andchargingatthesametime.Thisallowscontinuousworkingwithoutdrainingbattery
life.
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3.3 Turning the robot OFF
Inordertoextendyourrobotcomputerlifetimewerecommendthefollowingstepswhile
shuttingdownyourrobot:
● Ifpossible,shutdownusingtheUbuntugraphicinterfaceorthroughaterminalsession.
● Ifyoudon'thaveaccesstothecomputerthroughamonitororaremotecontrolsession,
pressandholdthecomputerpowerbutton(notthemainpowerswitch)forafew
secondsuntilthecomputershutsdown.
● Only when none of the above methods works, use the main power switch to turn the
computeroff.
Formoredetailsandusageinstructionsandtutorialsseeour
ROSwikipagehttp://wiki.ros.org/robotican.
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2. Maintenance
2.1 Batteries
All the Models of the robot can be charged while connected to the robot, and even when the
robot is in ON mode. Hence, for charging the battery of the module you need only to connect
the correct charger to the module. Note that the 24V charger is used for charging the Rover’s
battery.
The battery of the Rover module is located at the lower part of the module. To replace the
battery, open the cover by unscrewing the four screws that hold the battery cover in place. Open
the screws all the way, and remove them away. Then remove the cover downward. The battery
is located in its specific bay. To replace the battery simply disconnect the connector and replace
thebattery.Finallytoclosethecoverrepeatsthepreviousstepsinareversedorder.
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4. Warranty
LimitedWarrantyCoverage:
Subject to the limitations provided below, the Komodo Robot is warranted against defects in
materials and workmanship, under normal use, from the date of shipment through the period
identified in the purchase quote (one year). If warranty period is not specified then the
deliverableis"asis"andnowarrantyisprovided.
Where a warranty is provided, RoboTiCan liability for such warranty is limited to: 100%
of the parts necessary to repair the covered defect. Technical support by telephone, email, fax
or other means of correspondence during the warranty period for issues covered by warranty is
providedatnochargeforcovereddefects.
If travel to a location (other than RoboTiCan facility) is required to address an issue
determined to be covered by warranty, parts will be covered but all labor and travel expenses
will be billed. Travel will be billed at expenses plus $50.00 per hour for work time and $20.00 per
hour travel. Determination of warranty coverage is the responsibility of RoboTiCan and cannot
be assigned or delegated to any other party. If it is required to ship the robot to RoboTiCan
facilityforrepairormaintenance,theshippingcostswillbepaidbythecustomer.
The following are specifically not covered by warranty: (1) failure due to abuse and
neglect and/or improper operating environment (including, but not limited to, improper power
supply, temperature, humidity, and environmental conditions); (2) down time and related costs
duetofailure;(3)itemssuchasbatteries,and(4)software.
RoboTiCan shall have sole authority to determine type and means of repair in the event of a
warranty claim. RoboTiCan shall have the right to require the return of the defective part or
system to RoboTiCan, transportation prepaid, to establish the claim. RoboTiCan shall in no
event be held liable for repairs or alterations made without RoboTiCan’s written consent or
approval. RoboTiCan shall not be held responsible for repairs made by others. If unauthorized
service is performed, the warranty provided herein shall be void. This warranty is void if the
equipment is altered, improperly operated, improperly maintained or payments are not made
accordingtotheagreement.
Any additional software requirements or options are the responsibility of the end user.
RoboTiCan does not warrant or guarantee the performance or functionality of any software, or
that Customer is acquiring the legal right to use any software embedded within, or provided in
connection with, reconditioned robots. Any software provided to customer is provided "as is"
without warranty of any kind, either express or implied, and RoboTiCan specifically disclaims
any warranty of merchantability, fitness for a particular purpose, satisfactory quality, lack of
viruses, title, quiet enjoyment, and/or noninfringement with respect to any software. Customer
acknowledges and agrees that use of any software provided to customer is at customer's own
risk. Customer agrees to indemnify and defend RoboTiCan from and against any liability arising
fromcustomer'suseofsoftwareinconnectionwithproductssoldtocustomerhereunder.
Except for the warranties expressly provided herein, all other guarantees, warranties,
conditions or representations, either expressed or implied, whether arising under statute,
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common law, and commercial usage or otherwise, including implied warranties of
merchantability and fitness for a particular purpose, are excluded and hereby specifically
disclaimed. In addition to writing here RoboTiCan company will not be responsible for any
damage, injury, loss of ability to work, disability and even death caused arising directly or
indirectly from the use of the product Including the rover module, sensors module or the arm
module separately or altogether. RoboTiCan has made no express warranties except as
provided herein, and no oral or written information or advice given by RoboTiCan its agents or
employees shall create a warranty of any kind or in any way increase the scope of the limited
warrantyprovidedherein.
Under no circumstances whatsoever shall RoboTiCan be liable to any person, firm,
corporation or other entity for any special, punitive, indirect, or consequential damages, whether
for breach of contract, negligence, misrepresentation, or otherwise, and whether resulting in lost
profits, loss of interest in money borrowed or invested, impairment of goods, business
interruption, work stoppage, or otherwise, in any way arising out of any transaction to which
these standard terms apply. RoboTiCan maximum liability for any claim arising hereunder or
relating to the products sold to customer hereunder (whether for breach of warranty or
otherwise)shallbelimitedtotheobligationtorepairthenonconformingproduct.
Customer agrees that this sale is completely made in the Country of Israel in that the
laws of the Israel country shall apply concerning any controversy or claim regarding the
equipment. Customer agrees to indemnify and hold harmless RoboTiCan from all claims,
damages, liabilities, attorney's fees, and expenses arising from the ownership or use of the
equipment.
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