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Pioneer 3™
&
Pioneer 2™
H8-Series
Operations Manual
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Copyright © 2003, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia Robotics. The software on disk, CD-ROM, and/or in the microcontroller’s FLASH, which accompany the robot and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or are licensed products distributed by ActivM
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ActivMedia Robotics Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using power extension cords. To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories. Keep wheels away from long hair or fur. Never access the interior of the robot with charger attached or batteries inserted. Inappropriate Operation Inappropriate operation voids y
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Table of Contents CHAPTER 1 INTRODUCTION................................................................................................................. 1 ROBOT PACKAGE ........................................................................................................................................ 1 Basic Components (all shipments).......................................................................................................... 1 Optional Components and Attachments (part
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ActivMedia Robotics STARTING UP CLIENT AND SERVER ...........................................................................................................24 Drive Self-Test.......................................................................................................................................24 Client Server Connection ......................................................................................................................24 Demo Startup Options.................
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AROSCF ................................................................................................................................................... 54 STARTING AROSCF................................................................................................................................... 54 CONFIGURING AROS OPERATING PARAMETERS ...................................................................................... 55 Interactive Commands.....................................
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ActivMedia Robotics Chapter 1 Introduction Congratulations on your purchase and welcome to the rapidly growing community of developers and enthusiasts of ActivMedia Robotics’ intelligent mobile robots. Figure 1. Pioneer Mobile Robots first This Pioneer 3 & Pioneer 2 H8-Series appeared commercially in 1995. Operations Manual provides both the general and technical details you need to operate your new Pioneer 3-DX or –AT, or Pioneer 2-DX8/DX8 Plus and –AT8/AT8 Plus mobile robot,
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Congratulations Global Positioning System Heading-correction gyro Compass Bumper rings Serial cables for external connections Many more… User-Supplied Components / System Requirements © Client PC: 586-class or later PC with Microsoft Windows© or RedHat Linux OS One RS-232-compatible serial port or Ethernet Four megabytes of available hard-disk storage ADDITIONAL RESOURCES New ActivMedia Robotics customers get three additional and valuable resources: A private account
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ActivMedia Robotics 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 or PeopleBot robots. 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? Share your thoughts and questions with us from the o
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What is Pioneer? Chapter 2 What Is Pioneer? Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 1 and Pioneer AT, Pioneer 2™ -DX, -DXe, -DXf, -CE, -AT, the Pioneer 2™-DX8/Dx8 Plus and -AT8/AT8 Plus, and the newest Pioneer 3-DX and - AT mobile robots. These small, research and development platforms share a common architecture and foundation software with all other ActivMedia robots including AmigoBot™, People- Bot™ V1, Performance PeopleBo
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ActivMedia Robotics ActivMedia robots, including Pioneer 3, Performance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontroller and new ActivMedia Robotics 2 Operating System (AROS) software. The newest Pioneer 3 and 2 Plus platforms also sport an advanced motor-power board for high-power motor drives and systems power. Although differing in some power and interfacing features, processing power, support for various sensors, and I/O, all ActivMedia Robotics’ server
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What is Pioneer? AT8 Plus now come with a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. CLIENT SOFTWARE All ActivMedia robots operate as the server in a client-server environment: Their controllers handle the low-level details of mobile robotics, including maintaining the platform’s drive speed and heading over uneven terrain, acquiring sensor readings, such as the sonar, and managing attached accessories like the Gripper. To complete the cli
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ActivMedia Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications. Saphira Saphira, including the Colbert language, is a full-featured robotics control environment developed at SRI International’s Artificial Intelligence Center. Saphira and its ARIA foundation form the robotics-control and applications-development foundation for most ActivMedia robot owners and users. The complete, licensed Saphira robotic
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What is Pioneer? Pioneer 1 and AT Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rubber tires and a two- wheel differential, reversible drive system with a rear caster for balance. The Pioneer 1 came standard with seven sonar range finders (two Figure 5. The original Pioneer 1s side-facing and five forward-facing) and integrated wheel encoders. Software-wise, the Pioneer 1 initially served as a platform for SRI International's AI/fuzzy logic-based
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ActivMedia Robotics performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/ power and sonar-controller boards for a versatile operating environment. The controller had two RS232-standard communications ports and an expansion bus to support the many accessories available for your ActivMedia robot, as well as your own custom attachments. Sporting a more holonomic body, larger wheels and stronger motors for better indoor performance, Pioneer 2-DX, -DXe, -DXf, and -C
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What is Pioneer? MODES OF OPERATION You may operate your Pioneer 2 and 3 robots in one of five modes: Server Joydrive Self-test Maintenance Standalone Server Mode The Pioneer H8S microcontroller comes with fully programmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MHz H8S/2357 microprocessor. An additional 512K of dynamic RAM or FLASH-ROM is available as optional equipment. But we don't recommend that you start learning H8S programming. Rather, the robot c
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ActivMedia Robotics Chapter 3 Specifications & Controls ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 3-DX with onboard PC is a fully autonomous intelligent mobile robot. Unlike other commercially available robots, Pioneer’s modest size lends itself very well to navigation in tight quarters and cluttered spaces, such as classroo
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Specifications and Controls MAIN COMPONENTS ActivMedia robots are composed of several main parts: Deck Motor Stop Button User Control Panel Body, Nose, and Accessory Panels Sonar Array(s) Motors, Wheels, and Encoders Batteries and Power Deck Figure 10. Components of the Pioneer 3 The original Pioneer 2-DX, CE, and AT decks are one piece the top plate of the robot. The newer DXe and AT, and now the DX8/DX8 Plus, AT8/AT8 Plus, and Pioneer 3 models have hinged top-plates w
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ActivMedia Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT’s hinged access panel on the deck or on the left- side panel of the DX, it consists of control buttons and indicators, and an RS232- compatible serial port with a 9-pin DSUB connector. The red PWR LED is lit whenever main power is applied to the robot. The green STAT LED state depends on the operating mode and other conditions. It flashes s
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Specifications and Controls To engage AROS maintenance mode, press and hold the white MOTORS button, press and release the red RESET button, then release MOTORS. In the future, the white MOTORS button may engage other modes, such as when in AROS standalone mode. Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum body houses the batteries, drive motors, electronics, and other common components, including the front and rear sonar arrays. The body al
