WiFi Mobile Robot Development Platform with Multi-DOF Gripping Arms Scout Pro Quick Start Guide Copyright © 2001 - 2010, 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. 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. the power switch should be on OFF position) when not in used. Battery should be fully charged before storage. Battery pack should be recharged every two weeks while in storage.
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 Robot Operations 10 Robot Control Program 10 Arm Control Program 18 Recharging 19 Further Development & Programming 19 Network Connection and Login Information 20 Network Settings 20 Advanced Network Settings 20 Appendix I Power Switching Control 21 Appendix II LightBox, Signal Light and Front Light control reference 21 LightBox & Signal Light 21 Fron
Introduction Scout Pro is a rugged wheeled WiFi robot equipped with two gripping arms that optionally provide the robot with either one or two wrist-mounted cameras. Combining mobility and a new ability to grasp and manipulate, Scout Pro offers users broad versatility in its application. Key Features 2 Arms and grippers (5-DOF Arm x2 + 1-DOF Gripper x2) 550 oz.-inch(40 kg.cm) 12V DC motor with integrated 800 count per cycle optical encoder Fully wireless networked 802.
Sensors and External Components The figure below illustrates the key functional components you will identify on the outside of Scout Pro robot. Scout Pro Camera Camera Left Camera (Optional) Arm & Gripper Indoor GPS (Optional) Graphic LCD Light Bar Main Power Switch IR Range Ultrasonic Sensor Front Light Manual Recharging Socket Blue Light (Charging Power Signal) Scout Pro Overview When the robot detects input power from the recharging socket, the charging power signal Blue Light will be lit.
Scout Pro Sensor Module Location (Top View) Sensor Module Location Ultrasonic #1 G - Left front Ultrasonic #2 H - Middle front Ultrasonic #3 I - Right front Infrared Range Sensor #1 A – Front left Infrared Range Sensor #2 B – Front middle Infrared Range Sensor #3 C – Front right Infrared Range Sensor #4 D –Rear right Infrared Range Sensor #5 E – Rear middle Infrared Range Sensor #6 F – Rear left Quadrature Encoder #1 J - Left , use channel 1 Quadrature Encoder #2 K - Right, use channe
Operation Scenario Diagram below shows the typical operation scenario. The Scout Pro is a wireless networked robot. It connects to the wireless AP or router via IEEE 802.11b/g network.
Software Installation You should install the “ScoutControl” 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 Dr Robot Inc – Scout Control – ScoutArm Control – WiRobotGateway.exe “ArmControlSourceCode” folder contains a copy of Scout Arm control sample code for Visual Studio 2008. It is locate under default installation folder (such as “C:\Program
Robot Operations Robot Control Program Step 1: If you have not installed the demo and support programs, insert the installation CD to CDROM and run the “Setup.exe” program that is under “Scout Control Installation” folder. Step 2: Connect the PC to the wireless router (one of the LAN ports) (the router has IP 192.168.0.200) included in the package. Step 3: Push red power switch on the front to turn on the robot. Step 4: Run the “DrRobotScoutControl.
Copyright © 2001-2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
LightBox, Signal Light and Front Light control Camera display and multimedia control Select 128x64 monochrome bitmap file to display on LCD Voltage display on LCD Sensor data Copyright © 2001-2010, 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 Power information Power on/off the subsystems (detail in Appendix I) 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 Max power output when joystick is fully pu
Driving with Joystick Go Forward More you push, faster the robot goes Turn Left Turn Right Go Backward More you push, faster the robot goes Side Button (#2) Suspend collision avoidance feature 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 © 2001-2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
Via points displayed here. Via points can be manually modified here. 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. P2P task – robot will run from the first via point on the path to the last one and stop b. Wander task – robot actually don’t use the path, and runs on its own.
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 her, 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 Sputnik with indoor GPS sensor upgrade option Range (sonar and IR) sensor object distance measurement Copyright © 2001-2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
Arm Control Program Run the “scout_arm.exe” from Start -> All Programs -> Dr Robot Inc -> ScoutArm Control Type in the IP and Port number, click “Connect” Select demo “Motion” script; click “Go” to run. Arm control section Camera Copyright © 2001-2010, 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 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 192.168.0.200 admin drrobot WiFi module 1 connects to two serial devices through channel I and II (TCP/IP port 10001 and 10002 respectively).
Appendix I Power Switching Control Three power sub-systems as defined below could be turned On / Off or reset individually through the “DrRobotScoutControl.exe” program. Channel-I Channel-II Channel-III DC-DC board DC-DC board WiFi Module Power (3.
Front Light Using PWM channel 3 Use “motionControl.DcMotorPwmNonTimeCtr” to control it. The value should be bigger than 22000.
For AV Recording Setting: For Snapshot Setting: Support Team Contact Information: Email: support@drrobot.com Phone: 1-(905) 943-9572 Copyright © 2001-2010, Dr Robot Inc. All Rights Reserved. www.DrRobot.
