Guide

Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.com
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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
Appendix II Servo Control for Sputnik
3
Animated Head
Sputnik
3
animated head uses RC servo motors. RC Servo motor position is defined by the pulse width from the
control signal line. The pulse width value in milliseconds for specific position (e.g. 0
o
, 90
o
and 180
o
) is servo
manufacturer and model depending.
The conversion between the servo command used in the Sputnik
3
Control programs and the pulse width is:
The servo command = 2250 * Pulse Width in millisecond.
The max, min and initial servo position (in servo command) are defined in HeadServoConfig.xml for the Sputnik
3
animated head respectively. Servo motion (e.g. joint motion) range will be limited therefore by the max and min
value specified in these files.