All-Terrain Autonomous Navigation Robot with GPS-IMU Jaguar V4 MobilePlatform& Jaguar V4 with Manipulator Arm User Guide Install Fuse; Charge the battery pack before use *Shown with Options: Manipulator Arm, PTZ Camera, Laser Scanners, On-board Comput er and Extended Battery Packs Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.04.08.18.
WARNINGS Do NOT power on the robot before reading and fully understanding the operation procedures explained in this manual. Always charge the battery when battery is running low or before storage. Always turn your robot off when not in use. Over-draining the battery (such as keeping the robot on without charging) will damage the battery. Never position your finger(s) in between the track and/or arm’s moving parts even when the power is off.
Copyright Statement This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr Robot. All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Table of Contents I. II. III. IV. V.
I. Specifications Jaguar V4 Mobile Robotic Platform with manipulator arm is designed for indoor and outdoor applications requiring robust maneuverability, terrain maneuverability and object manipulation. It comes with four articulated arms and is fully wirelessly 802.11N connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/ Compass) for autonomous navigation. Jaguar V4 platform is rugged, light weight (< 30Kg), compact, weather and water resistant.
Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry Slope: > 35° Maximum vertical step: 300mm (12”) Stair climbing: Max stair step height 300mm (12”) Traverse: > 360mm (14”) Four articulated arms Speed: 0 – 5Km/hr Turning radius: 0, min 850mm (33.5”) diameter of turning space Ground clearance: 38mm (1.
Track Motors (24V): 4 units Max output (after gear down) (x2): Max 80W, 200Kg.cm/track Rated current: 2.85A, Max current: 18A Flipper Motor (24V): 2 units Max output (after gear down): Max 80W, 450Kg.cm Rated current: 2.75A, Max current: 16A Height: 400mm (15.7”) (manipulator at rest) Width: 700mm (27.6”) Length: 980mm (38.5”) (extended arms) / 640mm (25.
Jaguar Core Components JAGUARV4-ME Jaguar V4 Chassis (including motors and encoders) 1 JAGUARARM Jaguar Manipulator Arm 1 PMS5006-JV4 Motion and Sensing Controller (Jaguar V4 Version) 1 WFS802G WiFi 802.11b/g Wireless Module 2 DMD1202 10A (peak 20A) Dual-channel DC Motor Driver Module 4 PMCHR12 DC-DC Power Board 1 AXCAM-A 640x480 Networked Color Camera (max.
II. Knowing Your Robot Overlook The figure below illustrates the key and optional components that you will identify on the Jaguar robot.
Operation Scenario Diagram below illustrates the typical operation scenario. The Jaguar is a wireless networked outdoor mobile robot. It comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar Control” program connects to the Jaguar robot via: Network cable – Connect the robot on-board AP/router.
III. Operation of Jaguar Robot End user could develop his own Jaguar control program using the supplied development API and tools. Here, we will show you how to control the robot using the included “Jaguar Control Program” (Note: You need to install Google Earth program and other third party program first). Turn on/off the Platform Please follow the steps below to power up the robot. 1. Turn the main switch to "ON" position. 2. Press and hold the start button for about 1 second, then release.
Google Earth is then loaded (this may take a while). Google Earth supports offline use (without Internet), but you have to obtain the map online ahead of use. When Internet is not presented, this loading process will take longer time when trying to connect with Google Earth website. You will not get the correct Latitude and Longitude position by clicking on map before the map loading is finished. When loaded, click “OK” button.
When camera is presented, the video and AV control buttons will be shown in the video window. After the program starts up, the motor driver board is in the “Estop” state due to the safety reason. You need use “EStopWheel” button to release the motor driver board from emergency stop state. You also need switch to ‘FlipArm” tag and click “ESTOP_F” button to make sure is not in “Estop” state. You could use the included Gamepad controller to navigate the robot.
When is clicked (with optional laser scanner), it will display front laser scanner data in polar view as shown below. Click “Turn on” and then “Scan” button. You could use track bar to adjust the data cut-off distance (i.e. any obstacle with distance larger than this value will be ignored). By checking, you will enable the collision avoidance function. Battery information and motor information is displayed here.
”FlipArm” tag will display all the information about the front/rear flip arm motors and the state of the flip arm motor driver board. Shows Joints Angle Information and Control Value * Arm J4 is Gripper If you press the “Start” button on gamepad to set manipulator initial position, it will “check” . After that, you could press “B” button on gamepad to reset manipulator arm to initial position.
“Arm Driver3” tab will display motor driver 3 state (for optional pan unit). The two horizontal track bars show the Gamepad controller’s left and right stick control value. You could record raw GPS-IMU/Encoder sensor data using to "c:\DrRoboAppFile" folder with file name GPSIMURec*.txt. button. The raw sensor data file will be saved All traces are displayed on Google Earth by KML data.
2) Loose the locking screws of the Battery Box, disconnect the 2-Pin battery connector and take the Battery Box out. 3) Power on the Charge Station. Use to make sure "LiPo BALANCE" is displayed on the LCD screen. If not, use "Type/Stop" button to change battery type to "LiPo Battery" and press BALANCE” . to set charging mode to “LiPo 4) You can use + / + buttons to change the charge current, DO NOT exceed the 2A charging current and do not modify the battery voltage. It should be "22.
IV. Hardware and Electronics Network Settings Wireless Router Setting The on-robot pre-configured wireless AP has the following pre-set settings: PicoStation PicoStation-1: Local Wireless Network(option) PicoStation-2: Long Range Wireless Bridge (On Robot) (optional) PicoStation- 3: Long Range Wireless Bridge (Off Robot) (optional) SSID KEY IP ID Password DriJaguar drrobotdrrobot 192.168.0.245 drrobot drrobot DriJaguarBridgeY drrobotdrrobot 192.168.0.
Hardware Architecture The diagram below illustrates the inter-connection between the core electronic circuits and modules (some are optional accessories). Copyright © 2001-2018, Dr Robot Inc. All Rights Reserved. www.DrRobot.com - 19 - V.04.08.18.
Antenn a Right Front Left Front Motor Right Rear LiPo 22.2V 10AH Left Rear Motor Chargi ng Plug ON Main Switch Motor Driver Laser Scanner Wireless AP/Router Power 12V LAN Head Lights 9 DOF IMU (Gyro/ Accelerometer/Co mpass) GPS Module 3.3 V Antenn a 5V Ethernet Module 1 Power Port Port 3.3V 10002 10001 5V Communication Motion Sensing Controller (Jaguar Ver.
Jaguar V4 Base System Motor Driver Board Three motor driver boards are used, two of them woking in open loop mode for the left and right track/wheel motors while the other one working in encoder position control mode is for the flipper arm motors.
9 DOF IMU (Gyro, Accelerometer & Digital Compass) Input power Gyro Sensors Accelerometers 5V ITG3205 Triple-Axis digital output gyro sensor 3 Axis ADXL345 13bit resolution Magnetic Compass Output Frequency Max +/-16G 3 Axis HMC5883L magnetometer 50Hz(Gyro an Acceerometers) Output all sensor raw data and processed data by on-board MCU through serial port Laser Scanner Three laser scanner options are available, with measurement range of 0.02-4m, 0.02-5.6m and 0.1-30m.
Maximum discharge current Power Input 2A 100-240V Jaguar Manipulator Arm System Motor Driver Board Two motor driver boards are used, Input power Max current Input voltage H-Bridge 2 channels up to 10A continuous power per channel, peak up to 20A per channel for a minute 7~30V Camera Input power Resolutions Horizontal Field of View 12V 720x480 to 176x120 o 51 Frame rate H.264: 30 fps in all resolutions Motion JPEG: 30 fps in all resolution Video compression H.
Powertrain (motor, speed-reducer and encoder) The following specifications are defined at the output shaft after speed-reduction, including the gearbox and /or pulley system. Flipper shaft Track-arm motor (1 unit) Motor rated voltage Motor rated current Motor max current Shaft rated speed Shaft rated torque Shaft encoder resolution DC motor with steel gearbox 24V 2.75A 16A 19RPM 92Kg.
GPS GPS sensor output interface is RS232 serial port. Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002 NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is SNSRXCFG_200.exe. Manipulator Arm The manipulator arm is cont rolled by 2 RoboteQ SDC2130 control boards. The program will communicat e with it via 192.168.0 .63, port 10 0 0 1/ 10 0 0 2 using TCP protocol.
It will drive this joint left. Command: !P 1 -250 \ r It will drive this motor t o encoder position -250 .(make sure you know where it is and not in stuck state) On control board, we set current limitation for this joint . It will enter emergency stop state when current is over 8A or current over 5A for over 10 0 0 ms. You could read temperature sensor via analog channel 3(AI 3). The temperature sensor is B57164 K10 3J, you could find how t o conver the readings to temperature from the sample codes.
