Wireless Networked Autonomous Mobile Robot with HAWK Animated Head System Sputnik 3 Quick Start Guide Copyright © 2009, Dr Robot Inc. All Rights Reserved. www.DrRobot.
WARNINGS Do NOT power on the robot before reading and fully understanding the operation procedures explained in this manual. Never position your finger(s) in between the head’s moving parts even when the power is off. The robot head must be positioned to the rest position before turning on the robot. Neither the robot, nor the program is bug free, accidence could happen; you have to make sure that the robot always maintains a safe distance from people during operation. The robot should be turn off (i.e.
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 Introduction 5 Key Features 5 Sensors and External Components 6 Operation Scenario 8 Software Installation 9 Server PC 9 PDA (Color Touch Screen) on the Robot 9 Remote Client Program on Client PC Robot Operations 10 11 Remote Monitoring and Tele-operation 21 Recharging 23 Further Development & Programming 23 Network Connection and Login Information 24 Network Settings 24 Advanced Network Settings 24 Appendix I Power Switching Control 25 3 Appendix II Servo Con
Introduction 3 Sputnik is designed and built on i90 robot base, featuring dual-camera animated head (HAWK head). Key Features 6DOF animated head with dual 640x480 color cameras 3.5 inch color display, playing video (.wmv), audio and displaying images Overall height of 90cm; Dimension 43cm (L) x 38cm(W) x 90cm (H) Fully wireless networked 802.
Sensors and External Components 3 The figure below illustrates the key functional components you will identify on the outside of Sputnik robot.
3 Sputnik Sensor Module Location (Top View) Sensor Module Location Ultrasonic #1 K - Left front Ultrasonic #2 L - Middle front Ultrasonic #3 M - Right front Ultrasonic #4 N - Upper body front Human Sensor #1 Q - Left front Human Sensor #2 R - Right front Infrared Range Sensor #1 A – Front left Infrared Range Sensor #2 B – Front left Infrared Range Sensor #3 C – Front middle Infrared Range Sensor #4 D – Front middle Infrared Range Sensor #5 E – Front middle Infrared Range Sensor #6
Operation Scenario 3 Diagram below shows the typical operation scenario. The Sputnik is a wireless networked robot. It connects to the wireless AP or router via IEEE 802.11b/g network.
Software Installation Server PC On the Server Computer, you should install the “Sputnik-III Control” program from the installation CD. After program installation, you will find the following programs under the “Start-All Programs” list, and they are installed under the “Program Files” folder. Dr Robot Inc – Sputnik-III Control – DrRobotDualCameraHeadControl – DrRobotMotionPowerControl – DrRobotLocalization-GPSSetup (optional) Application data folder is set to “C:\DrRobotAppFile\” You will find the
Remote Client Program on Client PC On the client computer, you should install the “Sputnik-III Remote Control” program from the installation CD. After program installation, you will find the following programs under the “Start -> All Programs” list, and they are installed under the “Program Files” folder. Dr Robot Inc – DrRobotSputnikIIIRemoteControl Application data folder is set to “C:\DrRobotAppFile\” Following sub-directories could be found under “C:\DrRobotAppFile\” DrRobotServiceConfig.
Robot Operations Step 1: If you have not installed the programs, insert the installation CD to CDROM and run the “Setup.exe” program which under “Sputnik-III Control Installation” folder to a PC (called server PC), set your PC IP to 192.168.0.104, Gateway: 192.168.0.200 and Subnet Mask 255.255.255.0. Step 2: Connect the server PC to the wireless router (one of the LAN ports) (the router has IP 192.168.0.200) included in the package. Step 3: Position the robot head to the rest position as shown on the right.
Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
To record video under C:\DrRobotAppFile\Record\ To take snapshot under C:\DrRobotAppFile\Record\ Talk to robot Robot sensor data Robot position and direction estimated by dead reckoning system Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
Showing status of all power sources: Battery I, II and external DC input From where the system will take power from: Battery I, II or external DC input To control which battery or both to be charged and the max charging time Charging speed/mode control Power on/off the subsystems (detail in Appendix III) Motor PWM control Motor speed control Simple motion control: drive forward, backward, left, right and stop To turn within set time Drive forward (set distance) within set time When checked, autonomous co
Driving with Joystick Go Forward More you push, faster the robot goes Turn Right Turn Left Go Backward More you push, faster the robot goes Side button (#2) Suspend CA To Enable Joystick Control Robot base collision avoidance feature is enabled by default. During joystick operation, you could temporally disable this feature by holding the side button (#2) on the joystick handle (as shown above) Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
* Reserved for Sputnik3 with indoor GPS sensor upgrade option * Reserved for Sputnik3 with automatic charger upgrade option Via points displayed here. Via points can be manually modified here. This will bring up a tool called “Path Editor” allowing you to edit a path Manual path test tool: 1. Open the path file, via points on the path will be displayed on the display above; via points can be manually modified. 2. Select the type of task that robot to accomplish with the selected path: a.
The Path Editor opened from the “Path Control” allows you to edit a path file such as the charging and patrol path All path files are listed here, when double clicking on the file, the via points will be loaded onto the via point list for editing. You could create a new path file or save the edited path file from here. This path via point list allows you to modify the motion specification of each via point. You could position the robot to the location you like the robot to go.
* Reserved for Sputnik3 with indoor GPS sensor upgrade option Information about the tele-operation and remote monitoring client You could disable the remote client Range (sonar and IR) sensor object distance measurement Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
Step 6: Run DrRobotDualCameraHeadControl program. It provides motion control of the animated head and functions to the two eye cameras. You could run pre-edited head motion script files (.xml). The format and sample head motion script file can be found in Appendix II. You could control the head movement manually (through the “Manual Control” tag) or by the included joystick (NOTE: Do not forget to enable the joystick first).
You could also manually control the head motion joint by joint through the “Manual Control” tag. Head servo manual control Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
Remote Monitoring and Tele-operation Step 1: If Internet remote monitoring/control is required, you need to connect the wireless router WAN port to your broadband Internet modem. You need to find out the public IP assigned by your ISP. (you should be able to find this information from the router status page) This IP will be used by the remote client to connect to the host PC and the devices on the robot.
Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
Recharging To keep the battery at ideal condition, we recommend recharging the robot at least once every two weeks during storage (e.g. robot is not in use). Plug the charging plug from the portable charger onto the secondary recharging socket on the back of the robot, and then turn on the robot. The charging process will normally take about 2 hours if the battery power is totally exhausted. The charging process will automatically stop when completed.
Network Connection and Login Information Network Settings As default, your PC running the Sputnik-III Control program should have IP settings as below: Name Gateway Server PC IP (Port) Subnet Mask 192.168.0.200(Router IP) 192.168.0.104 255.255.255.0 The included pre-configured wireless 802.11 b/g router has the following pre-set settings: SSID WEP KEY Key Type dri 128bits 112233445566778899AABBCCDD Open Key Router LAN Login ID Password 192.168.0.
Appendix I Power Switching Control Three power sub-systems as defined below could be turn on or off individually through the “DrRobotMotionPowerControl” or “DrRobotSputnik-IIIRemoteControl” Program. Channel-I DC-DC board –I Main Camera (12V) Channel-II DC-DC board –I 1. PMS5005 Main power (5V) 2. PDA, LED 5V Channel-III Left Eye Camera, Right Eye Camera power 5.1V Head Servo Power 6V 3 Appendix II Servo Control for Sputnik Animated Head 3 Sputnik animated head uses RC servo motors.
Appendix III Head Motion Script File Here is the sample head motion script file extracted from “yes.xml” that can be found under C:\DrRobotAppFile\HeadMotionFile\ Note, the servo command values are NOT the absolute servo command value, they are the difference relative to the servo initial value (initial servo position in servo command are defined in HeadServoConfig.xml). ManualShelf © 2013-2025
