Pioneer robots
For the UGV platform, we have 6 ground robots and accessories including manipulators, autonomous navigation and mapping package as well as the software from Adept MobileRobots. The photos and descriptions are from Adept MobileRobots.
Hardware
UGV models
Pioneer 3-DX
Pioneer 3-DX is a small lightweight two-wheel two-motor differential drive robot ideal for indoor laboratory or classroom use. The robot comes complete with front SONAR, one battery, wheel encoders, a microcontroller with ARCOS firmware, and the Pioneer SDK advanced mobile robotics software development package.
Number of units: 3
Robot Weight: 9 kg
Operating Payload: 17 kg
Support SONAR, Gyroscope, GPS module,navigation package and manipulator
Operating system : Windows, Linux Debian
Pioneer 3-AT
Pioneer 3-AT is a small four-wheel, four-motor skid-steer robot ideal for all-terrain operation or laboratory experimentation. The Pioneer 3-AT comes complete with one battery, emergency stop switch, wheel encoders and a microcontroller with ARCOS firmware, as well as Pioneer SDK advanced mobile robotics software development package.
Number of units: 3
Robot Weight: 12 kg
Operating Payload: Tile/floor 12 kg, Grass/dirt 10 kg. Asphalt 5 kg
Support SONAR, Gyroscope, GPS module, navigation package and manipulator
Operating system : Windows, Linux Debian
UGV accessories
The Laser Mapping and Navigation accessory package
The Laser Mapping and Navigation accessory package for MobileRobots research platforms provides a SICK laser rangefinder fully integrated with the robot platform and onboard computer (power and data), and includes a suite of development software for automatically creating maps, and for accurate, autonomous intelligent localization and navigation of the robot. Laser navigation can be used in most indoor spaces, and also in outdoor spaces on level ground if enough buildings and stationary obstacles surround the operating environment.
SICK LMS-100 laser range .finder with field of view 190 degrees
Scanning frequency 75 Hz
Operating range 0-80m (depending on settings), wit 1mm resolution
Mapper3 map making software
ARNL intelligent localization and navigatio development libraries
MobileEyes remote GUI application
Pioneer gripperThe Pioneer Gripper is a 2-axis, 2 degree-of-freedom (dof) robotic manipulator available for Pioneer 3-DX or Pioneer 3-AT. Driven by a two, reversible DC servo-motors under control of the Pioneer microcontroller, the gripper opens and closes horizontally, and raises up to carry the grasped object off the floor.
Front and rear break beams between the paddles indicate when an object is in between the paddles. When closing, the gripper automatically senses pressure and stops. (Grasping pressure is configurable.)
The Pioneer Gripper can be used in research projects involving multi-robot object movement and manipulation, object identification and sorting, and challenging and interesting educational exercises.
Gamma 1500 7 DoF robotic armThe Gamma has 7-degrees of freedom, plus a gripper end effector, with kinematic redudancy. All axes are independent but can be controlled simultaneously. Pitching axes have integrated load balancing springs for stability. All joints have ball bearing support. Spin joints have additional planetary bearings.
Maximum Payload 1500 g (3.3 lbs) sustained at full extension, 2000 g (4.4 lbs) at partial extension
Total Reach: 68 cm (26.8 in)
Arm Weight: 2 kg (4.4 lbs)
Gripper opening: 3.5 cm
Axes/DOF: 7
ProPak-V3™ Triple-Frequency GNSS ReceiverNovAtel's ProPak-V3 is a durable, triple-frequency GNSS receiver that tracks GPS + GLONASS as well as L-Band and SBAS. When combined with one of NovAtel’s rugged GPS-700 series antennas, the ProPak-V3 provides superior tracking performance, positioning accuracy and reliability. It also supports USB communications and Inertial Measurement Unit (IMU) technology
Software
1. Aria
Open source C++ development library enables control of robot, accessories, networking and much more from your custom software projects; may also be used from Python, Java and Matlab; available for Linux and Windows.
2. MobileEyes
Remote user interface application for control, visualization, monitoring and configuration. See the position of the robot, sensor data, send commands, and change configuration variables in real time. Available for Linux and Windows.
3. MobileSim
Simulator for use with ARIA or other compatible software.
Open source simulator supports all robot types and can be used as direct stand-in for the real robot, no extra configuration or software changes needed. Available for Linux and Windows.
4. Mapper3
Tools for Editing Maps for use with Navigation Software.
Generate a map from laser scan, and add goals and other objects. Linux and Windows.
5. ARNL
Development libraries for intelligent navigation and localization of robots.
Easily add autonomous navigation to your application software. Linux and Windows.
Demos
1. Leader-follower formation control - 3 circles
2. Dynamic Obstacle Avoidance
3. Complete demo of path plannin and dynamic obstacle avoidance
4. Grab an object with gripper
5. Grab an object and return home with dynamic path planning and obstacle avoidance
6. Robot1 grabs the object and put it on the buffer area and Robot2 takes the object from the buffer area and put it on the per-defined position
7. Robot grabs the object and put it on the pre-defined position
