Robotnik RB-1 Instruction manual
RB-1 MODULAR MOBILE MANIPULATOR
Quickstart Manual
Version 2.0
RBTNK-DOC-161020A
Robotnik Automation, S.L.L.
RBTNK-DOC-161020A
System Software and Architecture Manual.
RB-1 Modular Mobile Manipulator
1. Introduction
This manual describes the basic steps to operate the RB-1 Modular Mobile
Manipulator (RB-1). The RB-1 can be operated in three ways:
- using the pad provided with the manipulator.
- connecting with an SSH client to the manipulator.
- using a remote PC connected to network created by the manipulator.
2. Start-up Sequence
Take a look to the back panel of the robot:
Figure 1. RB-1 back panel.
The following elements are the main components of the back panel necessary
to start-up the robot:
ON/OFF switch
CPU power button
Motors reset button
Emergency button
The general ON/OFF SWITCH (green) must be activated for giving energy to all
the elements of the system. Press the CPU POWER BUTTON (blue) button to
turn ON the computer, the blue button will light up. At this moment the PC
(Linux) starts-up and loads all the necessary files for booting.
To move the robot, the EMERGENCY BUTTON (red) must be pulled out and
the RESET BUTTON (orange) must be pressed once.
NOTE: Remember that the robot is able to reach high speeds, use the higher
speeds only in open areas.
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RBTNK-DOC-161020A
System Software and Architecture Manual.
RB-1 Modular Mobile Manipulator
3. Pad Teleoperation.
If the startup sequence has been executed in the correct order, the pad will
shake after it is enabled. PS3 pad is enabled by pressing the PS Button. PS4
pad is enabled by pressing the Share and the PS Button for five seconds, and
waiting for its pairing. Then, the robot will be ready to be teleoperated. The
RB-1 Pad Teleoperation is divided in three modes: Base, Torso and Arm. Each
mode is selected by pressing the correspondent Deadman button.
NOTE: If no Deadman button is pressed, the robot will not move.
Figure 2 – Base Operation Mode for PS3 and PS4 pads
Figure 3 – Torso Operation Mode
Figure 4 – Arm Operation Mode
A more detailed description of the Pad Teleoperation is provided in the software
manual.
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RBTNK-DOC-161020A
System Software and Architecture Manual.
RB-1 Modular Mobile Manipulator
4. SSH Connection.
First, connect to the Wifi Network provided by the RB-1:
Wifi SSID: RB1-161020A (A..Z)
Wifi Password: R0b0tn1K (R and K capital letters)
Then, connect to the CPU using your favourite SSH Client:
RB-1 IP Address: 192.168.0.200
User/Password: rb1 / R0b0tn1K (R and K capital letters)
5. Remote PC
The RB-1 software architecture is based on the open source robots framework
ROS Indigo release, which is targeted at the Ubuntu 14.04 LTS Release. It is
recommended to install both versions.
Ubutnu 14.04 installation guide: http://releases.ubuntu.com/14.04/
ROS Indigo installation guide: http://wiki.ros.org/indigo/Installation/Ubuntu
ROS Tutorials: http://wiki.ros.org/ROS/Tutorials
After both are installed, create a Catkin Workspace and install the RB-1
Software from source, located at:
https://github.com/RobotnikAutomation/rb1_common
Then, add the following line to the /etc/hosts file in your computer to be able to
connect to the RB-1 CPU:
user@remote:~$ sudo vim.tiny /etc/hosts
# add the following line
192.168.0.200 rb1-161020A
Finally, you will be able to use the different ROS tools, such as RViz, to operate
the robot from your remote PC.
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