All-Terrain Autonomous Navigation Robot with GPS-IMU Jaguar 4x4 Wheel User Guide Copyright © 2013, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V18.09.
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-4x4-wheel Mobile Robotic Platform is designed for indoor and outdoor operation requiring higher ground clearance and faster maneuverability. Jaguar-4x4-wheel platform is a wheeled version of the Jaguar-Lite platform. Jaguar-4x4-wheel is driven by four powerful (80W) motors, one for each wheel. Jaguar-4x4-wheel platform is rugged, light weight (< 20Kg), fast (max 15km/hr), with high ground clearance (88mm), compact, weather and water resistant.
Shock resistant chassis Drop to concrete: Max: 1200mm (4ft) Rated: 900mm (3ft) Motion and sensing controller (PWM, Position and Speed Control) 5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) Laser scanner (4m or 30m) (Optional) Temperature sensing & Voltage monitoring Headlights Color Camera (640x480, 30fps) with audio WiFi802.11G (Optional WiFi 802.
Jaguar Core Components JAGUAR4x4W-ME Jaguar 4x4 Wheel Chassis (including motors and encoders) 1 PMS5005-J4W Motion and Sensing Controller (Jaguar 4x4 Wheel Version) 1 WFS802G WiFi 802.11b/g Wireless Module 1 DMD1200 12A (peak 25A) Dual-channel DC Motor Driver Module 2 PMCHR12 DC-DC Power Board 1 AXCAM-A 640x480 Networked Color Camera (max.
II. Knowing Your Robot Overlook The figure below illustrates the key components that you will identify on the Jaguar-4x4-Wheel robot. GPS and 9 DOF IMU (Gyro/Accelerometer/Compass) Laser Scanner Camera Headlights Power Switch Handle Bar WiFi Antenna Recharging Socket Jaguar-4x4-Wheel Platform Copyright © 2013, Dr Robot Inc. All Rights Reserved. www.DrRobot.com -8- V18.09.
Operation Scenario Diagram below illustrates the typical operation scenario. The Jaguar-4x4-wheel 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-4x4-wheel 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” (You need to install Google Earth program first). Turn on/off the Platform Please follow the below steps to turn on the robot. 1. Turn the main switch to "ON" position. 2. Press the start button for a while (around 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 a 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.
You could use the vertical track bar to zoom in or out. When the GPS-IMU module is presented, this program will connect and display the GPS information on Google Earth and IMU raw data on the 6 chart boxes. When camera is presented, the video and AV control buttons will be shown in the video window. You could use the included Gamepad controller to navigate the robot.
When is clicked, it will display laser scanner data in polar view as shown below. Yellow: Driving Direction (Modified by sensor map) Blue: Gamepad Driving Direction Polar Sensor Map Enable Collision Avoidance * When the "CA" checkbox is checked, the program will limit the maximum output PWM to 65% full power. Battery information and motor information is displayed here. If the robot uses the included Li-Po battery, you need to stop the robot when voltage is below marked voltage (22.
data by right-clicking on “Temporary Places”, then choosing “Delete Contents”. (That is why we did not hide Google Earth program) On normal program exit, Google Earth will be closed. However, you should double check using “Windows Task Manager”; otherwise, you may not be able to display Google Earth when you start Jaguar control program again. Recharging Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of battery, explosion and damage could occur.
6) Press button for few seconds, the charge station will check the battery and display what the reading is. It should be same as your settings above. button again to start charging. 7) If everything is right, you can press to switch the display to show the battery status. The display 8) Press should show each battery reading as below image.
Camera 192.168.0.65 User ID Root Password drrobot Port 8081 Advanced Network Settings You could also change the Wireless AP/router settings such as IP and SSID etc., if you need to do so, you are required to change the network settings on the Ethernet modules on the robot by following the guidelines as illustrated on the Ethernet Module manual. Please contact support@DrRobot.com if you need further support.
Charging Plug Antenna Right Front Motor Right Rear Motor LiPo 22.2V 10AH Left Front Motor Left Rear Motor OFF Host Control PC ON Main Switch Motor Driver Board #1 Gamepad Controller 5V Head Lights 9 DOF IMU (Gyro/ Accelerometer/Compass) Power 5V GPS Module Power 5V 3.3V Camera (AV) Power 5V Copyright © 2013, Dr Robot Inc. All Rights Reserved. www.DrRobot.com - 17 - V18.09.13 Antenna 5V Power 5V Wireless AP/Router Power 5V LAN 5V Ethernet Module 2 Power 3.
Motor Driver Board The left front and left rear motors are connected to the 1st channel on the motor driver board while the right front and right rear motors are connected to the 2nd channel. Input power Max current Input voltage H-Bridge 2 channels up to 25A continuous power per channel, peak up to 50A per channel for a few seconds 6~24V, 30V absolute max Motion and Sensing Controller This is a special version of PMS5005 board.
Gyro Sensors Accelerometers Magnetic Compass Output Frequency ITG3200 Triple-Axis digital output gyro sensor LPR530ALH - 300o/s dual-axis gyro 3 Axis ADXL345 13bit resolution Max +/-16G 3 Axis HMC5843 magnetometer 50Hz Output all sensors raw AD data, magnetic sensor will be measured every 220ms Laser Scanner Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
V. Further Development & Programming The Jaguar Control program The Jaguar Control program is written with Visual Studio 2008 express (in C#) under .Net 3.5 framework. You could download the development tools (Visual Studio 2008 express under .Net 3.5 framework) free from Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot Control” for further information.
private void myJaguar_StandardSensorEvent(object sender, EventArgs e) { boardVol = ((double) myJaguar.GetSensorBatteryAD1() / 4095 * 9); motVol = ((double) myJaguar.GetSensorBatteryAD2() / 4095 * 34.498); } You could read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the sensor specification to translate AD value to temperature (in celcius degree). Also you could read left/right wheel motor encoder in this event.
To turn right with full power myJaguar.DcMotorPwmNonTimeCtr(4,32767); To control head lights, using expanded IO port bit7. Turn off light: Turn on light: myJaguar.SetCustomDOUT(expandedIO & 0x7f); myJaguar.SetCustomDOUT(expandedIO | 0x80); Software watchdog: The system will automatically, stop all the motors if it does not received any data package in 5 seconds. Laser Scanner Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level conversion.
By using the Microsoft’s “Windows Media Encoder 9” and Axis video capture driver, you could also access this camera in Intel’s OpenCV as same as accessing a USB camera. Advanced Development Please refer to document “GPS-IMU Sensor Module and Outdoor Autonomous Navigation Program” for detail on autonomous navigation programming using the Jaguar GPS and IMU system module. Support and sample codes are available for using OpenCV, LabVIEW and MATLAB. Please contact support@drrobot.com for further information.
