CLEARPATH HUSKY A200 Manuale utente

Contents............................................................................................................................................2

Introduction ......................................................................................................................................4

What’s Included ........................................................................................................................................ 4

What’s Required ....................................................................................................................................... 4

Expansions ................................................................................................................................................ 4

The Basics..........................................................................................................................................5

Status Panel............................................................................................................................................... 6

Orientation References............................................................................................................................. 7

Pinout References..................................................................................................................................... 7

System Specifications................................................................................................................................ 8

Vehicle Equations...................................................................................................................................... 9

Control Modes .......................................................................................................................................... 9

Safety ..............................................................................................................................................10

General Warnings ...................................................................................................................................10

E-Stop and Lockout ................................................................................................................................. 10

Performance Recommendations ............................................................................................................11

Electrical System ..................................................................................................................................... 11

Lifting and Transport............................................................................................................................... 11

Getting Started ................................................................................................................................12

PC Setup ..................................................................................................................................................12

Connecting Computer............................................................................................................................. 12

Connecting Power................................................................................................................................... 12

Verification.............................................................................................................................................. 14

ROS-Based Teleoperation .......................................................................................................................15

Operation ........................................................................................................................................16

Control Protocol......................................................................................................................................16

Python.....................................................................................................................................................16

C++ .......................................................................................................................................................... 17

Battery & Maintenance....................................................................................................................19

Charging ..................................................................................................................................................19

Battery Care ............................................................................................................................................19

Wheels .................................................................................................................................................... 20

Chassis..................................................................................................................................................... 20

Tips and Troubleshooting .................................................................................................................21

Mechanical Tips ...................................................................................................................................... 21

Troubleshooting......................................................................................................................................21

A. PC Setup ......................................................................................................................................22

Python.....................................................................................................................................................22

ROS..........................................................................................................................................................23

C++ .......................................................................................................................................................... 23

B. Product Dimensions .....................................................................................................................24

C. Service and Support .....................................................................................................................25

Husky A200 is a rugged and easy-to-use unmanned ground vehicle for rapid prototyping applications. In

this guide, you will find information about the setup, operation, and maintenance of your Husky A200.

Included with your Husky A200 kit are the following:

1x Clearpath Robotics Husky A200

1x 24V Sealed Lead-Acid Battery Pack

1x Battery Door Cover

1x Battery Charger

2x Lockout Keys

To use Husky A200, you will require a PC running Windows or Linux. Communication with Husky occurs

over standard RS232 serial, using the Clearpath Communication Protocol (CCP). Open-source software

interfaces for CCP are available in C++, Python, and National Instruments LabVIEW.

If you purchased a computer option from Clearpath Robotics with your Husky, then the laptop or

minicomputer you received has already been configured for use with CCP.

To expand the capabilities of Husky, consider the following additional sensor packages offered by

Clearpath Robotics:

LIDAR

Network Camera

GPS

Each sensor package ships from Clearpath Robotics with a custom mounting bracket and cabling, for

easy attachment to Husky’s extruded aluminum payload mounting rail.

This section provides an overview of the key specifications of the Husky A200 platform. Figure 1 gives a

tour of key Husky A200 components.

Figure 1: Husky A200 at a Glance

Front Bumper Bar

Wheel

User Power Panel

Extruded Aluminum

Mounting Rail

User Payload Area

Lockout

Emergency Stop

Rear Bumper Bar

Power Button

Status Panel

Battery Area

Access Buttons

The status panel is an array of LED indicators which provide information about the current status of

Husky, located on the rear of the chassis. The indicators are described in Table 1.

Icon

Description

Battery status. The four LED segments provide an approximate indication as to

the relative lifetime remaining in the battery.

Communications status. When green, Husky is receiving a stream of correctly-

formatted motion commands, and is ready to drive. When yellow, Husky is

receiving commands but will not drive due to emergency stop or another error.

When red, serial communications are currently timed-out.

General error status. Illuminates red when Husky will not drive due to an error

state. Such states include emergency stop, insufficient battery power, or an

unspecified software error.

Emergency stop status. Illuminates red when Husky will not drive due to the

emergency stop being activated, either onboard or wireless (if available)

Charge indicator. Illuminates red when Husky user power is being supplied

externally.

Table 1: Husky A200 Status Panel Icons

The reference frame used by all Clearpath Robotics ground vehicles is based on ISO 8855, and is shown

in Figure 2. Husky is being viewed from the front; when commanded with a positive translational

velocity (forward), wheels travel in the positive x-direction.

The direction of the axes differs from those used for roll, pitch, and yaw in aircraft, and care should be

taken to ensure that data is interpreted correctly.

Husky A200 provides a female DE-9 connector, for communication with a host device. The pinout of this

connector is shown in Figure 3.

Name

Dir

Description

Data from Platform

OUT

Data to Platform

GND

N/A

Common Ground

roll

pitch

yaw

Figure 2: Husky A200 Reference Frame

Figure 3: Husky A200 DE9 Pinout

Key specifications of Husky A200 are shown in Table 2.

Dimensions

990 mm length

670 mm width

390 mm height

39 in length

26.4 in width

14.6 in height

Track

555 mm

21.9 in

Wheelbase

512 mm

20.2 in

Weight

50 kg

110 lbs

Maximum payload1

75 kg

165 lbs

All-terrain payload2

20 kg

44 lbs

Speed (max)

1.0 m/s

3.3 ft/s

Ground clearance

130 mm

5 in

Climb grade

45°

100% slope

Traversal grade

30°

58% slope

Operating time

3 hours typical

8 hours standby (no motion)

Battery

24V 20 Ah

Sealed Lead Acid

Battery charger

Short-circuit, over-current, over-voltage,

and reverse voltage protection.

Charge time

10 hours

User Power

5V / 12V / 24V

Each fused at 5A

Communication

RS-232

115200 Baud

Wheel encoders

200,000 pulses/m

Internal sensing

Battery status

Wheel odometry

Motor currents

Table 2: Husky A200 System Specifications

1: Continuous operation on relatively flat terrain with wide turns

2: Vehicle climbing 30° grade with high-mounted payload, or turning in place in high-friction conditions

As a starting point, Clearpath Robotics recommends using the following relationship between wheel

velocity and platform velocity:

   

    



vrepresents the instantaneous translational speed of the platform and ωthe instantaneous rotational

speed. vrand vlare the right and left wheel velocities, respectively. wis the effective track of the vehicle

(0.555 m).

Husky A200 supports three distinct control modes: voltage control, speed control, and velocity control.

Voltage control, accessed via CCP message 0x0202, allows the direct control of motor voltage,

as a percentage of 24V.

Speed Control, accessed via CCP message 0x0200, activates a PID feedback control loop, and

allows the specifying of the left and right wheel speeds in m/s.

Current Control, accessed via CCP message 0x0220, activates a PID feedback control loop, and

allows the specifying of the left and right wheel currents in amperes.

Velocity Control, accessed via CCP message 0x0204, activates feedback control, and a basic

kinematic model, which allows the specifying of a target overall translational and rotational

velocity of the chassis.

For more details, please refer to the Clearpath Control Protocol documentation, and the documentation

specific to your chosen software API.

Navigate to http://clearpathrobotics.com/downloads to download the current release of the Clearpath

Control Protocol.

Clearpath Robotics is committed to high standards of safety. Husky A200 contains several features which

protects both the safety of users and the integrity of the vehicle.

Husky A200 is a rugged and high-performance vehicle. For the safety of yourself and others, always

conduct initial experiments and software development with the vehicle raised off the ground. Place a

wooden crate, a set of sawhorses, a sturdy storage tub, or any other solid flat structure having a height

greater than 6 inches under Husky to keep the wheels clear of the ground (“up on blocks”).

When starting out, favor slower wheel speeds. Husky’s control loops can accurately maintain velocities

as low as 0.1 m/s. Operating at such speeds will give you more time to react if things don’t go quite as

you expect.

When Husky is operating, keep clear of the wheels, paying particular attention to the pinch hazard

which exists between each wheel and the end of the corresponding bumper bar.

The red emergency stop button (e-stop) and lockout are located on the back of Husky, opposite the

status panel, shown in Figure 4. Power supply to Husky’s motor drivers is enabled by a normally-open

relay, which is closed in series with the e-stop switch. When in e-stop mode, the status panel e-stop light

will illuminate red, and Husky will not drive.

Always ensure the e-stop button is accessible at all times. Avoid mounting payloads which extend over

the rear of Husky and would occlude the e-stop.

Lockout

Emergency Stop

Figure 4: Husky A200 Emergency Stop and Lockout

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