Pioneer Gripper - Graz University of Technology · 2019-07-25 · Pioneer Gripper Chapter 1...

Pioneer Gripper

© 2006 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 Gripper Manual • Version 7 • January 2006

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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 equipment away from hair or fur.

Inappropriate Operation

Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to:

Dropping the equipment Overloading the Arm above its payload capacity Getting the equipment wet Continuing to run the equipment after hair, yarn, string, or any other items have become wound in one

or more of its joints All other forms of inappropriate operation or care

Use MOBILEROBOTS authorized parts ONLY; warranty void otherwise.

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Contents CHAPTER 1 INTRODUCTION...................................................................................................1

GRIPPER PACKAGE ................................................................................................................................................ 1 Package Components ....................................................................................................................................... 1 User Supplied Components .............................................................................................................................. 1

ADDITIONAL RESOURCES ........................................................................................................................................ 1 Software ............................................................................................................................................................. 1 Newsgroups ....................................................................................................................................................... 2 Support............................................................................................................................................................... 2

CHAPTER 2 THE PIONEER GRIPPER .....................................................................................3 SPECIFICATIONS .................................................................................................................................................... 3

CHAPTER 3 INSTALLATION AND TESTING.............................................................................4 STEP 1: REMOVE POWER ....................................................................................................................................... 4 STEP 2: LOOSEN OR REMOVE THE ROBOT'S NOSE...................................................................................................... 4 STEP 3: REMOVE TOP DECK ................................................................................................................................... 4 STEP 4: INSTALL POWER AND CONTROL CABLES ....................................................................................................... 5

Power Cable ....................................................................................................................................................... 5 Signal Cable ....................................................................................................................................................... 5

STEP 5: REASSEMBLE............................................................................................................................................ 5 STEP 6: ATTACH THE GRIPPER ................................................................................................................................ 6 STEP 7: ENABLE THE GRIPPER IN FLASH................................................................................................................. 6 STEP 7: TEST THE GRIPPER..................................................................................................................................... 7 TROUBLESHOOTING ................................................................................................................................................ 7

CHAPTER 3 GRIPPER OPERATION AND ................................................................................9

CHAPTER 4 PROGRAMMING .................................................................................................9 GRIPPER ON THE USER I/O PORT ............................................................................................................................ 9 GRIPPER SERVERS............................................................................................................................................... 10 GRIPPER CLIENT COMMAND SET ........................................................................................................................... 10

GRIPPER Command with Gripper-Server Command Argument ...................................................................10 GRASPING PRESSURE .......................................................................................................................................... 10 LIFTCARRY......................................................................................................................................................... 10 GRIPPER STATES AND STATUS............................................................................................................................... 11 ARIA GRIPPER SUPPORT ..................................................................................................................................... 12

CHAPTER 5 MAINTENANCE & REPAIR............................................................................... 13 DRIVE LUBRICATION ............................................................................................................................................. 13 FACTORY REPAIRS ............................................................................................................................................... 13

APPENDIX A ......................................................................................................................... 14 STANDARD SERVER INFORMATION PACKET ............................................................................................................. 14

APPENDIX B ......................................................................................................................... 15 USER I/O-GRIPPER PORT ..................................................................................................................................... 15

WARRANTY & LIABILITIES .................................................................................................. 17

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Chapter 1 Introduction Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of MOBILEROBOTS platforms.

This Pioneer Gripper Manual provides the general and technical details you will need to install and operate the Gripper accessory on your Pioneer 3 or 2 mobile robot (DX and AT models).

We also encourage you to use these companion resources that come with your robot:

Operations Manual ARIA and other related software manuals Registration & Account Sheet Personal account for the http://robots.MobileRobots.com support server [email protected] support newsgroup

GRIPPER PACKAGE Our experienced robotics manufacturing staff put your Pioneer Gripper through a “burn-in” period and carefully tested it before we shipped the hardware. Our care extends beyond: Besides the companion resources listed above that bring the whole community of Pioneer to you, we warranty the Gripper against mechanical and electronic parts and labor defects for one year.

Even though we’ve made every effort to make your package complete, please check the components once again after you unpack it from the shipping crate.

Package Components Pioneer Gripper Mounting hardware Signal cable (20-conductor flat ribbon cable with IDC connectors)1 Power cable (2-conductor twisted pair with 0.15 latchlock connectors) Pioneer Gripper Manual

User Supplied Components Pioneer 3- or 2-DX or AT mobile robot Set of hex wrenches that accompanied your original robot Small, flat-bladed screwdriver

ADDITIONAL RESOURCES New MOBILEROBOTS customers get three additional and valuable resources:

A private account on our Internet server for software, updates, and manuals Access to private newsgroups Direct access to the MOBILEROBOTS technical support team

Software

You should already have the necessary software—it comes with the robot. We also maintain a 24-hour, seven-day per week Web server where customers may obtain all MOBILEROBOTS 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 robot.

1 Cables may be installed in your new Pioneer 2/3 robot.

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http://robots.activmedia.com/

Newsgroups

We maintain several email-based newsgroups through which MOBILEROBOTS customers share ideas, software, and questions about the robot. Visit the support http://robots.MobileRobots.com for more details. To sign up for Pioneer-users, for example:

To: [email protected] 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:2

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 MOBILEROBOTS platforms.

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 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.

Tell us your robot’s SERIAL NUMBER.

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.

Because this is a support option, not a general-interest newsgroup like Pioneer-users, we reserve the option to reply only to questions about problems with your robot or software.

2 Note: Leave out the –requests part of the email address when sending messages to the newsgroup.

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mailto:[email protected]


Chapter 2 The Pioneer Gripper

Figure 1. Pioneer Gripper features

The Pioneer Gripper is a two-degree of freedom (2-DOF) manipulation accessory that attaches to the front (nose) of a Pioneer DX or AT mobile robot. Independent segments—the Gripper itself with paddles and a Lift mechanism—let you grasp objects on the floor, and raise and carry them to a new location.

The Gripper and Lift each are driven by reversible-DC motors, whose direction and power are controlled through digital output lines from your Pioneer robot’s controller. Embedded limit switches sense the Gripper and Lift positions. The paddles each contain grip-sensor and infared (IR) breakbeam switches, both front and rear, to sense objects and their positions within its grasp. These sensors, too, interface with the Pioneer controller through dedicated digital input lines.

Although you may operate the Gripper directly through its digital I/O interface, there are special servers included in your robot controller’s embedded software to fully manage its operations. Accordingly, the client software developer need only issue a single, simple command to actuate fundamental manipulation operations.

Figure 2. Pioneer Gripper and Lift dimensions

SPECIFICATIONS In its fully down and open state, the two 3cm (1.5 inch) tall by 9.5cm (3.5 inch) deep Pioneer Gripper paddles, each with 2mm soft-foam pads on the inside, open to 21.5cm (8.4 inches) apart and ride 2.4cm (1.2 inches) off the floor with the DX or just 1cm (0.25 inches) off the floor with the AT models. The paddles extend out from Pioneer’s main body 11cm (5 inches) beyond the top deck’s edges.

The paddles close horizontally until they grasp an object or close on themselves. The grasping pressure is under software control and varies between 200g (0.5 lbs ) and 2kg (5 lbs). The Lift mechanism reaches nearly to the floor, and rises 7cm (3.5 inches) above, and can lift objects weighing up to 2kg (5 lbs).

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Chapter 3 Installation and Testing Please read through this chapter carefully before you attempt to attach the Pioneer Gripper to your robot. If for any reason you do not wish to perform the work yourself, contact MOBILEROBOTS and make arrangements to have the assembly installed at the factory.

STEP 1: REMOVE POWER Switch Main Power OFF. REMOVE ALL BATTERIES! If you have the Pioneer 3 auto-recharging accessory, reach in through the robot’s back door and remove the automotive spade-type fuse from its socket on top of the battery box.

Skip to Step 6 if the Gripper came with your new robot; it just needs to be attached.

STEP 2: LOOSEN OR REMOVE THE ROBOT'S NOSE For new installations, you need to run the power and signal through the nose and into the body of your Pioneer robot. Use the 3mm hex wrenches that came with the robot.

Depending on the model, two or three screws hold the nose to the underside of the sonar ring. The bottom of the DX nose is hinged; another screw attaches the nose to the underside of the AT. Swing the unfastened DX nose down (the nose comes completely off with older models), or the AT nose towards the left side of the robot.

Also remove the plastic plug that covers the rectangular gripper cable-access hole in the front face, lower right corner of the nose.

STEP 3: REMOVE TOP DECK Using the 3mm hex wrench that came with your robot, remove the screws (Figures nearby) that attach the front top deck to the robot’s body.

Figure 3. Pioneer 3-DX and -AT front deck screws

Lift the front top deck open and attach the cables through the front half of the robot per Step 4. Close and re-attach the front half of the top plate, then open the rear half of the top plate to access the termination points for the Gripper cables.

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Figure 4. Rear deck screws for the Pioneer 2 robots

STEP 4: INSTALL POWER AND CONTROL CABLES Start from the front of the robot and route the Gripper’s signal and power cables to their respective locations in the body: the signal cable to the controller board and the power cable to power terminals on the battery board. If you have an onboard PC, we recommend that you run the cables under the computer, which means that you may have to loosen, if not remove its four attaching screws and slide the cables underneath. The power cable should be run through the wiring slots along the right side of the robot.

If you have a P3-AT with onboard computer, run both cables over the top of the computer and to the respective controller and battery board. Re-install the front half of the top plate and open the rear half to attach the cables to their respective terminations. NOTE: If you have a factory installed Gripper, the power cable is attached to the motor/power board, not the battery board.

Power Cable

Figure 5. Pioneer 2/3 battery board power terminals

At the rear of the robot, on top of the box that holds the batteries, locate the main Power Out screw terminals. Loosen those screws with a flat-bladed screwdriver, add the spade terminal ends of the Gripper power cable to that connector--black wire to black wire GND and yellow wire to yellow wire 12 VDC, then tighten the screws well.

Signal Cable

Locate the User I/O-Gripper connector on your robot’s controller. See Appendix B for details. Route the Gripper signal ribbon cable and plug it into that IDC connector. Seat it well so that the latches lock the connector and cable to the board.

STEP 5: REASSEMBLE Reverse the process in Steps 2 and 3 to re-attach your Pioneer’s top deck plate. Hold it a few centimeters above the body and reattach the various cables to the Motor-Power Interface board.

Align the 3mm mounting holes and re-attach the top deck plate to the body with the 3mm hex screws you had removed earlier.

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Re-attach any of the computer cables and connectors to their mating connectors in the nose section of your Pioneer 2 or 3.

CAREFUL!

Re-attaching the hard-disk drive cable incorrectly will permanently damage both the drive and the onboard PC.

Re-attach the nose to the body with the screws you removed in Step 2.

STEP 6: ATTACH THE GRIPPER Draw the Gripper’s power and signal cables through the access portal at the lower right side of your Pioneer 2 or 3’s nose. You may have to remove a plastic plug from the hole first.

Plug the Gripper power cable into the 2-pin latching connector on the Gripper control board. Find it at the rear of the Gripper's Lift mechanism.

Plug the Gripper signal cable into the 20-pin header on the Gripper control board.

Place the Gripper assembly flush against the nose of your robot, aligning the pilot pins through their respective guide holes. Now secure the Gripper with the four 3mm button-head screws supplied with the assembly.

That's it. Time to re-insert the batteries, switch on your Pioneer 2 or 3’s Main Power, and sniff for blue smoke. If sparks don’t fly and smoke is absent, it's time to enable and test the Gripper servers.

STEP 7: ENABLE THE GRIPPER IN FLASH Either use your onboard PC or run a serial cable from the SYSTEM serial port on your Pioneer 2 or 3’s User Control Panel to an off-board PC. Power the robot, and put the robot’s controller into maintenance mode (these last steps not necessary with latest ARCOS-based controllers):

1. Press and hold in the white MOTORS button.

2. Press and release the red RESET button.

3. Release the MOTORS button.

Note that with the original P2OS-based Pioneer 2 robots, you also need to push the FLASH switch at the front of robot ON.

On the PC, start your FLASH parameters configuration program: p2oscf(.exe) for C166-/P2OS-based Pioneer 2’s, AROScf(.exe) for H8S-/AROS-based Pioneer 2-H8 and early Pioneer 3 robots, or ARCOScf(.exe) for all SH2-/ARCOS-based Pioneer 3 robots.

If the program is not already installed in /usr/local/ (Linux) or in C:\Program Files\MobileRobots\ (Windows®) on your onboard PC, find and install the proper configuration tool from the CDROM that came with your robot, or a copy you freshly downloaded from the support website http://robots.MobileRobots.com.

Change the HasGripper FLASH parameter to a value of 1 (at the ‘>’ prompt type, ‘hasgripper 1’ and press Enter). Then ‘save’ the parameter change both to your robot's FLASH and again to a FLASH configuration file that you store on disk for later retrieval and upload to your robot’s FLASH. For

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example, ‘save P2withGripper’, creates the P2withGripper file that you may later ‘retrieve P2withGripper’ then ‘save’ to FLASH.3

You need to enable your Gripper in the FLASH only once; the change persists until you change it again with the FLASH configuration tool.

Exit the program (‘q’ at the command prompt) and then RESET your robot’s controller (red button on the User Control Panel).

STEP 7: TEST THE GRIPPER Time to test your new Pioneer Gripper. Start your client PC, either onboard or attached to your robot’s controller through the SYSTEM serial port on the User Control Panel. If you had just performed Step 6, press RESET once to restart the controller.

Note that if the Gripper paddles are not closed with the Lift down, resetting the controller automatically puts it into that storage position. This is also an initial test of whether the Gripper is installed properly and operating normally.

Locate and start the Advanced Robotics Interface for Applications (ARIA) demonstration program demo(.exe). It’s already installed in /usr/local/Aria/bin (Linux) or accessible through Start:Programs:MobileRobots:ARIA (WIndows) from your onboard PC. Otherwise, install it on your PC from the CDROM that accompanied your robot or from a fresh distribution you may download from the support website, http://robots.MobileRobots.com. For operation details, see your robot’s operation manual.

Once connected with your robot server, the ARIA demo client has a Gripper control mode option. Simply press the ‘g’ or ‘G’ (shift-g) key on the PC to enable that mode. The ARIA demo displays the current state of your Gripper sensors, including limit switches and breakbeam IRs. Press the keyboard arrow keys to raise and lower the Lift, and open and close the Gripper paddles manually; the space bar key stops the Gripper motors. Or press the ‘e’ or ‘E’ key to have the ARIA demo automatically exercise the Gripper and Lift.

Press the ‘esc’ key to disconnect the ARIA demo and quit.

TROUBLESHOOTING If you’ve never gotten the Gripper to move at all, or if you’ve just reinstalled it on the robot but it does not move at all when tested, first make sure that your ARIA client actually is connected with the robot’s controller. Please read the ARIA demo client text messages as it makes the connection just after startup. It should say that it has connected to the robot and displays the robot’s salient parameters, such as type (“Pioneer”), subtype (“P3DX-SH”, for example), and your robot’s name, if you set that FLASH parameter. If not, check your serial connections and program setting.

If your ARIA demo client connects okay, but the Gripper doesn’t move, check and make sure that you have properly enabled the Gripper parameter in the robot’s FLASH.

Next, does the ARIA demo program display apparently valid Gripper sensor readings? For example, do the paddle switches indicate closed when they are closed, and open when they are open? And do the breakbeam IRs work? If so, it is likely that the Gripper power cable has become disconnected either from the Gripper control board or from the battery board connection.4 Loosen the Gripper from the robot’s nose first and check the latch-locked connection. You might even test it with a voltmeter: the yellow wire is the positive terminal and should read battery-level (around 12VDC) voltage. Easily

3 AROS uses a “.cfg” and ARCOS appends the “.rop” file name suffix. 4 The Gripper power cable supplies its motors; the Gripper signal cable provides power to the Gripper’s sensors.

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access the battery board through the rear plate of the top deck, as needed; you need not remove the entire deck plate as you might have when originally installing the Gripper.

The only other possible cause is the control cable. Make sure it’s connected to both the Gripper control board and to the User I/O-Gripper connector on the controller.

If all else fails, contact http://robots.MobileRobots.com/techsupport for more assistance.

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Chapter 4 Gripper Operation and Programming The Pioneer Gripper comes fully integrated with your Pioneer 2 and 3's systems and software. All MOBILEROBOTS controller firmware contain servers with state-based control routines that manage the Gripper functions for you. These include the latest Renesas SH2-based ARCOS, Hitachi H8S-based AROS, and Siemens C166-based P2OS Pioneer 2 and 3 controllers. Because it is attached through the common Gripper-User I/O port, the controller and its servers also give you direct control of the Gripper functions.

In turn, the controller servers are supported in all versions of MOBILEROBOTS-related client software, including ARIA and many others. We supply several ARIA-based client examples for programming the Gripper in the ARIA examples/ directory. Please consult the various operations and software manuals for many more client-programming details.

GRIPPER ON THE USER I/O PORT The Table 1 nearby summarizes the Pioneer Gripper-User I/O port connections. You may directly control the various Gripper functions and read its sensors using native ARCOS/AROS/P2OS commands that manage the User I/O digital input and output ports.

For example, to raise the Lift, you might have your client software set the OD bits two and three with the DIGOUT command #30. The effect is to enable the Gripper Lift motor and set its direction to go up.

Operating the Gripper directly from the DIGOUT functions can be dangerous, however. For instance, if you left the Lift-enable bit set, you can and will damage the Gripper's motor-driver electronics.

Table 1. Gripper Connections on User I/O

PIN

SIGNAL

DESCRIPTION PIN SIGNAL DESCRIPTION

1 OD0 OD0; Gripper enable

2 ID0 ID0; Paddles open limit

3 OD1 OD1; Gripper direction

4 ID1 ID1; Lift limit

5 OD2 OD2; Lift enable

6 ID2 ID2; Outer breakbeam IR

7 OD3 OD3; Lift direction

8 ID3 ID3; Inner breakbeam IR

9 ID4 ID4; Left paddle contact

10 OD4 OD4; Not used by Gripper

11 ID5 ID5; Right paddle contact


13 ID6 ID6; Not used by Gripper




17 *AN0 A/D port 0 (default)(0-5VDC = 0-255)

18 Vcc 5VDC < 1A

19 Vpp Battery 12VDC < 1A 20 Gnd Signal/power common

The states of both the DIGIN (IDx) and DIGOUT (ODx) digital I/O ports (one byte each) appear in the standard Server Information Packet (SIP) that the controller sends automatically to a connected client

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every client-server cycle, as well as in the client-requested IOpac SIP. See your Pioneer’s Operations Manual for more details.

Table 2. User I/O DIGIN bits and meaning when attached by the Gripper

DIGIN X X 1 1 0 0 1 1 Grip switch

- - Right Paddle

Left Paddle

Inner Breakbeam

Outer Breakbeam

Lift Limit

Grip Limit

When 1 - - open open obstructed obstructed open open When 0 - - closed closed clear clear closed closed

GRIPPER SERVERS Rather than control the Gripper from native User I/O servers, for safety and convenience use the set of Gripper servers that come with your controller’s embedded software to manage the accessory.

These servers automatically drive the Gripper so to achieve some fundamental state, such as up or down, open or closed. When used by client software, the Gripper servers monitor and report its progress towards and achievement (or lack) of a state, saving you coding time and effort. The servers also include a timeout feature to protect against unfortunate stalls or hang-ups.

GRIPPER CLIENT COMMAND SET Table 3 documents the AROS Gripper-server client command set. From a connected client, issue the AROS GRIPPER command number 33, followed by its required unsigned integer argument, which is the Gripper command number.

GRIPPER Command with Gripper-Server Command Argument

Commands to the Gripper servers are, for the most part, self-explanatory. For example, to have the Gripper close its paddles, send the GRIPPER command #33 with the GRIPclose command argument two.

In some cases, the GRIPPER command requires an operating value. Use another command to set that operating value, immediately following the GRIPPER command that requires the value.

The value-setting Gripper command is the GRIPPERVAL command number #36. Make its integer argument the preceding Gripper command's operating value.

GRASPING PRESSURE To set how hard the Gripper paddles will grasp an object, set a grasp_time delay, in 20 millisecond increments, for when the paddle contacts trigger (about 0.2kgs pressure) to when the paddle drive motor stops. The default is 10 (200 milliseconds) which provides a grasping pressure of around 0.5kg. Incrementally, the grasping pressure is roughly 0.5kg per 200 milliseconds, to a maximum grasping pressure of around 2kg (grasp_time of 2 seconds).

LIFTCARRY The LIFTcarry command and required carry_time operating parameter lets you use the Gripper to lift or lower an object some distance between the top and bottom of the Lift's limits.

The grip_carry distance is time-based, since there are no travel-encoders attached. Accordingly, the actual Lift distance will be imprecise, depending on load, battery voltage, and a variety of other factors. Under no-load and otherwise normal conditions, assume approximately two centimeters per second of travel.

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Table 3. Gripper Client Command Set

COMMAND ARGUMENT LABEL ACTION 1 GRIPopen Open Gripper paddles 2 GRIPclose Close Gripper paddles; grasp pressure

regulated by command #16 3 GRIPstop Stop Gripper paddles 4 LIFTup Raise Lift 5 LIFTdown Lower Lift 33 6 LIFTstop Stop Lift 7 GRIPstore Simultaneously closes paddles and raises

Lift. For storage; not for grasping/carrying an object

8 GRIPdeploy Simultaneously lowers Lift and opens paddles. Not useful for object drops (drops too soon), but for getting ready to grasp an object.

15 GRIPhalt Halts both Gripper paddles and Lift 16 GRIPpress Sets paddles grasping pressure; must

follow immediately with AROS command 36 with grasp time value.

17 LIFTcarry Intermediate Lift position; must follow immediately with P2OS command 36 and carry_time value

1-100 grasp_time Time delay in 20 millisecond increments after Gripper paddles first grasp an object and before they stop moving. Regulates grasp pressure.

36 ± 1-255 carry_time Time in 20 millisecond increments to raise (+) or lower (-) the Gripper lift; allows for a “carry” position

GRIPPER STATES AND STATUS Besides the DIGIN and DIGOUT bytes found in the standard SIP (Appendix A), the Gripper servers provide additional state information both in the standard SIP and in a special GRIPPERpac SIP.

Table 4. Gripper State Byte

BIT MEANING WHEN SET (1) G 0 Paddles open¹ R 1 Paddles close¹ I 2 Paddles moving P 3 Gripper error

L 4 Lift up¹ I 5 Lift down¹ F 6 Lift moving T 7 Lift error

¹ If both in the same state, paddles or lift position is unknown.

A Gripper state byte, which contents are described in Table 4, appears just after the sonar readings in the standard SIP.

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The state byte also comes, along with other salient information about the Pioneer Gripper and its current status, in a special GRIPPERpac SIP (type 224; 0xE0). When connected, the client requests a single GRIPPERpac packet or can have the servers send an updated GRIPPERpac every client-server cycle, usually just after the standard SIP.

Use the GRIPREQUEST command #37 with argument value of one to request a single GRIPPERpac; greater than 1 for continuous (one-per-cycle) packets; or zero to halt continuous packets.

Table 5. GRIPPERpac SIP contents

HEADER int Exactly 0xFA, 0xFB (250,251) BYTE COUNT byte Number of data bytes + 2 (checksum) TYPE byte Packet type = 0xE0 HASGRIPPER byte Gripper type: 0=none; 1=P2/3; 2=PeopleBot GRIP_STATE byte See nearby Table GRASP_TIME byte MS time controls grasping pressure CHECKSUM integer Computed checksum

ARIA GRIPPER SUPPORT MOBILEROBOTS’ Advanced Robotics’ Interface for Applications (ARIA) development environment contains all the client-side foundation software that you need to operate and monitor the Pioneer Gripper and robot-controller servers for you own robotics applications. We encourage you to examine the various source files and included documentation that better detail ARIA’s inner workings than we supply here.

A good place to start is in the ARIA examples/ directory. Look for the gripperDemo.cpp. It uses the ArGripper and ArGripperCommands C++-language classes to set up and operate the Pioneer Gripper. Find detailed documentation of those classes, as well as the entire ARIA suite, in the ARIA Reference manuals.

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Chapter 5 Maintenance & Repair The Pioneer Gripper is built to last a lifetime and requires little maintenance.

DRIVE LUBRICATION An occasional drop or two of oil on the guide rails is a very good idea. Place some thin, household oil on a Q-Tip or similar applicator, and rub along the rails. Then start up the Pioneer to exercise the Gripper and spread the lubricant.

FACTORY REPAIRS If, after reading this manual, you’re still having hardware problems and you’re satisfied that it needs repair, contact us:

http://robots.MobileRobots.com/techsupport

Tell us your robot’s SERIAL NUMBER

In the body of your message, describe the problem in as much detail as possible. Also include your robot’s serial number (IMPORTANT!) as well as your name, email and mail addresses, along with phone and fax numbers. Tell us when and how we can best contact you (we will assume email is the best manner, unless otherwise notified).

We will try to resolve the problem through communication. If the robot must be returned to the factory for repair, obtain a shipping and repair authorization code and shipping details from us first.

We are not responsible for shipping damage or loss.

Use MOBILEROBOTS authorized parts ONLY; warranty void otherwise.

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http://robots.activmedia.com/techsupport

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Appendix A

STANDARD SERVER INFORMATION PACKET

NAME VALUE DESCRIPTION

HEADER int Exactly 0xFA, 0xFB BYTE COUNT byte Number of data bytes + 2 (checksum), not including header or

byte-count bytes STATUS/PACKET 0x3S = Motors status

TYPE 2 Motors stopped 3 Robot moving XPOS int Translation travel YPOS int THPOS Sint╪ Orientation L VEL Sint Wheel velocities R VEL Sint BATTERY byte Battery charge in tenths of volts (101 = 10.1 volts, for example) STALL AND BUMPERS

int Motor stall and bumper indicators.

CONTROL Sint Setpoint of the server’s angular position servo FLAGS Sint Various status and states.

COMPASS byte Electronic compass accessory heading in 2-degree units SONAR COUNT byte Number of new sonar readings included in SIP NUMBER byte If Sonar Count>0, is sonar disc number 0-31; reading follows RANGE int Sonar range value; multiply by RangeConvFactor‡

…REST OF THE SONAR READINGS…

GRIP_STATE BYTE Pioneer Gripper state byte ANPORT BYTE Selected analog port number 1-5 ANALOG BYTE User Analog input (0-255=0-5 VDC) reading on selected port DIGIN BYTE Byte-encoded User I/O digital input DIGOUT BYTE Byte-encoded User I/O digital output CHECKSUM INTEGER Packet-integrity checksum

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Appendix B

USER I/O-GRIPPER PORT Note that all the internal connectors on the robot’s controller and the Gripper signal connector (IDC sockets) are numbered odd pins on top and even pins on the bottom, from right to left, relative to the key:

13 11 9 7 5 3 1 14 12 10 8 6 4 2

Figure 6. Location of the User I/O-Gripper port on the SH2-/ARCOS-based Pioneer 3 controller.

Figure 7. Loca

tion of the User I/O-Gripper port on the H8S/AROS-based Pioneer 2-H8 and original Pioneer

3 controller board.

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Figure 8. Location of the User I/O-Gripper port on the C166-/P2OS-based original Pioneer 2

controller board.

Table 6. User I/O-Gripper signals Table 6. User I/O-Gripper signals

PIN PIN

SIGNAL SIGNAL

DESCRIPTION DESCRIPTION PIN SIGNAL DESCRIPTION

1 OD0 OD0; Gripper enable

2 ID0 ID0; Paddles open limit

3 OD1 OD1; Gripper direction

4 ID1 ID1; Lift limit

5 OD2 OD2; Lift enable

6 ID2 ID2; Outer breakbeam IR

7 OD3 OD3; Lift direction

8 ID3 ID3; Inner breakbeam IR

9 ID4 ID4; Left paddle contact


11 ID5 ID5; Right paddle contact






17 *AN0 A/D port 0 (default)(0-5VDC = 0-255)

18 Vcc 5VDC < 1A

19 Vpp Battery 12VDC < 1A 20 Gnd Signal/power common

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Warranty & Liabilities

Your MOBILEROBOTS platform and Gripper are fully warranted against defective parts or assembly for one year after it is shipped to you from the factory. Accessories are warranted for 90 days. Use only MOBILEROBOTS authorized parts or warranty void. This warranty also explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects.

The developers, marketers and manufacturers of MOBILEROBOTS products shall bear no liabilities for operation and use of the robot or any accompanying software except that covered by the warranty and period. The developers, marketers or manufacturers shall not be held responsible for any injury to persons or property involving MOBILEROBOTS products in any way. They shall bear no responsibilities or liabilities for any operation or application of the robot, or for support of any of those activities. And under no circumstances will the developers, marketers or manufacturers of MOBILEROBOTS products take responsibility for support of any special or custom modification to MOBILEROBOTS platforms or their software.

17

19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.MobileRobots.com

Pioneer Gripper - Graz University of Technology · 2019-07-25 · Pioneer Gripper Chapter 1...

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