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Gripper
&
Experimenter’s Module
Manual
version 1.2
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Gripper & Experimenter’s Module Copyright 1997, ActivMedia, Inc. 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, Inc. The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM that accompany the robot and accessories and which are available for network download by Pioneer 1 customers are solely owned and copyrighted by Kurt Konolidge a
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Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997. Contents Page 1. INTRODUCTION 1 1.1 Gripper and Experimenter’s Package 1 1.1.1 Package Components 1 1.1.2 User Supplied Components 1 1.2 Basic Pioneer Platform 2 1.3 The Gripper & Experimenter’s Module 2 1.3.1 Gripper Description 2 1.3.2 Experimenter’s Module Description 4 1.4 Additional Resources 5 1.4.1 Pioneer Web Software Archive 5 1.4.2 Pioneer and Saphira Newsgroups 5 1.4.3 Support 6 2. INSTALLATION 7 2.1.1 Step 1: R
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4. EXPERIMENTER’S MODULE 15 4.1 I/O Ports 15 4.1.1 Digin: Self-Test 17 4.1.2 Digout: Self-Test 17 4.2 Programming the Digital I/O Ports 18 4.3 Programming the A/D Ports 18 4.4 Programming the Speaker 18 5. MAINTENANCE & REPAIR 19 5.1 Drive Lubrication 19 5.2 Gripper Belt Adjustments 19 5.3 Factory Repairs 19 6. APPENDIX A 20 Example C Program Demonstrates Gripper and Speaker Functions 7. APPENDIX B 24 Pioneer Server Information Packet 8. INDEX 25 WARRANTY & LIABILITIES 28 iv
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Gripper & Experimenter’s Module 1. Introduction ongratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and C enthusiasts of the Pioneer 1 Mobile Robot. This Pioneer 1 Gripper & Experimenter’s Module Manual provides the general and technical details you will need to install and operate your new Gripper and to develop your own attachments and enhancements for the Pioneer 1 Mobile Robot with the integrated Experimenter’s Module. We also encourage yo
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Overview 2.2 Basic Pioneer Platform Pioneer 1 is a small, mobile robot developed by Kurt Konolige of SRI International and Grinnell More of Real World Interface, Inc., and is available exclusively through ActivMedia, Inc. The basic Pioneer 1 Mobile platform contains all of the components for sensing and navigation in a real-world environment, including battery power, drive motors and wheels, position encoders, and ultrasonic sonar transducers—all managed via an MC68HC11-based microcontroller boa
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Gripper & Experimenter’s Module Figure 1-2 Pioneer Gripper side view. Figure 1-3. Pioneer Gripper top view In its fully down/open state, the two 2.5 inch (5cm) tall by 3.5 inch (9.5cm) deep Gripper paddles (each with 0.5cm foam pads on the inside) are 8.5 inches (21.5cm) apart and ride 1 inch (2.3cm) off the floor. The paddles extend out from the front robot’s main body 3 inches (10cm) beyond the console edge. 3
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Overview In transition from the fully down/open position to their up/closed state, the Gripper paddles close together horizontally until they pinch an object or close on themselves. At that point, the entire Bar and Gripper Assembly rises up vertically—with or without an object in its grasp. Under software control, the Gripper then rises to a special “carry” position or all the way to the top of the Gripper case 4 inches (10.5 cm) off the floor to its closed/up position. It is not normally possi
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Gripper & Experimenter’s Module digital ports. There also is circuitry and a connector for an as-yet-implemented remote- controller IR. A complete list of available I/O ports and connections can be found in Chapter 4, Experiment’s Module. 2.4 Additional Resources Every Pioneer 1 customer gets three additional and valuable resources: a private account on ActivMedia’s Internet server for downloading Pioneer software, updates, and manuals, access to RWI’s private robotics newsgroups, and E-mail acc
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Overview 2.4.3 Support Have a problem? Can’t find the answer in this or any of the accompanying manuals? Know a way that we might improve Pioneer 1? Share your thoughts and questions directly with us: pioneer-support@rwii.com Your message goes to our team of Pioneer developers who will help you directly or point you to where you may find help. Because this is a support option, not a general- interest newsgroup like Pioneer-users described above, we must reserve the option to reply only to questi
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Gripper & Experimenter’s Module 3. Installation lease read through this chapter carefully before you attempt to attach the Gripper & Experimenter’s Module to your Pioneer 1 Mobile Robot. If for any reason you Pdo not wish to perform the work yourself, contact RWI and make arrangements to have the assembly installed at the factory. On the other hand, skip this chapter altogether if your Pioneer 1 Mobile Robot came with the Gripper & Experimenter’s Module Assembly already attached. Turn OFF the Pi
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Installation Figure 2-1. Pioneer 1 microcontroller card 3.1.3 Step 3: Replace the PSOS EPROM Locate the EPROM/SRAM socket (Figure 2-2) on the microcontroller card and note that the Pin 1 locator notch on its case is towards the outer edge of the board—you’ll want to similarly position the new PSOS EPROM. Pry or pull out the socketed EPROM chip. We’d prefer that you use a special “chip-puller” tool, but if one isn’t handy, use a thin, flat- Figure 2-2. Location of the EPROM socket bladed screwdr
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Gripper & Experimenter’s Module press carefully, but firmly down on the chip with your thumb or forefinger to seat it tightly in the socket. 3.1.4 Step 4 Reattach Microcontroller to Console By reversing the procedures you took in Step 2 and using the same tools and screws, reattach the Pioneer microcontroller to the Console top plate. Set the entire assembly aside for the moment in a safe place. 3.1.5 Step 5 Remove Nose The Gripper/Experimenter’s Module replaces the Pioneer’s nose. Use the hex
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Installation 3.1.8 Step 8 Re-Attach the Console Cables Carefully handling the Console top plate with attached microcontroller by its edges, reattach the various cables, front and back. Although the order is not critical, for convenience we recommend attaching the front cables first─ the sonar and drive (left and right) cables. Then, to the sockets on the rear of the microcontroller, attach the 4-pin serial connector, the new 16-pin Nose I/O and 26-pin General I/O connectors, and finally the new
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Gripper & Experimenter’s Module 4. Gripper Operation and Programming he Pioneer Gripper comes fully integrated with the robot’s systems and software. The latest versions of PSOS (4.2+) contains support for direct control of the T Pioneer’s onboard I/O that run the Gripper functions, as well as state-based software control routines that manage the Gripper functions for you. In turn, these PSOS functions are supported in Saphira (version 5.3+), the Pioneer Application Interface (PAI), and Pio
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Gripper Operation and Programming 4.3 Gripper I/O The Gripper’s single drive motor is controlled through two digital output lines and under control of the microcontroller CPU: Output port OD0 controls the direction of rotation and OD1 enables/disables the motor. The act of gripping and raising objects is mechanical and dependent on the Gripper’s position—you cannot independently operate the gripper paddles. Rather, you drive the motor in one direction or the other. The paddles automatically open
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Gripper & Experimenter’s Module The revised PSOS 4.2 (and later) sfCOMDIGOUT command has a two-byte argument: The high byte is a mask of those output bits you want to change, and the low byte is the bit pattern for the bits to change. This way, you don’t need to know the state of the port(s) you want to change; just the state in which you want them to be, and you won’t change the state of any of the other ports. The Saphira function, sfRobotCom2Bytes, packages the sfCOMDIGOUT command and values
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Gripper Operation and Programming Table 3-2. Gripper functions /************************************************************* * Gripper functions --- For setting and retrieving gripper states * States are sfGRIPUP, sfGRIPDOWN, sfGRIPMIDDLE, sfGRIPOFF, * and sfGRIPMOVING * sfGRIPMOVING occurs only during transitions between states * sfGRIPOFF can be set by the user, which means no state control * sfGRIPOFF is set by the robot to indicate a timeout (6 * seconds) if
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Gripper & Experimenter’s Module 5. Experimenter’s Module esides hosting the Gripper, the Experimenter’s Module brings several new features to the Pioneer 1 Mobile Robot, and provides you with a platform for B adding your own robotics options and features (Figure 4-1): 9 Easy access to Pioneer digital I/O, A/D, and timer functions 9 Speaker with new PSOS “say” command 9 User-controlled LEDs and switches 9 8 RC-servo ports (RC0-7) 9 8 Analog-to-Digital Input Ports (AN0-7) 9 Range-finding IR connec
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Experimenter’s Module Note also that the Nose (N) 16-pin and the General (G) 26-pin I/O connectors are numbered odd pins on top and even pins on the bottom; not top, left to right, then bottom left to right. The pinouts for the Nose connector, for example, are: 1 3 5 7 9 11 13 15 246 8 10 12 14 16 Table 4-1. Pioneer I/O ports and connections Label Connector/Pin Use Digital Inputs ID0 G7 Gripper top switch ID1 G9 Gripper carry switch ID2 G11 Gripper open switch ID3 G13 Paddle inner break beam ID4
