CLEARPATH HUSKY Manuale utente

HUSKY

USER MANUAL

UNMANNED GROUND VEHICLE

CONTENTS

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

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

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

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

Getting Started...............................................................................................................................13

Onboard PC Setup ................................................................................................................................ 13

Connecting Computer.......................................................................................................................... 13

Remote PC............................................................................................................................................. 14

Connecting Power ................................................................................................................................ 15

User Bay Power Connections ............................................................................................................. 16

Verification ............................................................................................................................................ 16

Using ROS ......................................................................................................................................17

Nodes ..................................................................................................................................................... 17

Topics..................................................................................................................................................... 17

Workspace............................................................................................................................................. 18

Payloads .................................................................................................................................................. 18

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

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

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

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

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

Tips and Troubleshooting ..............................................................................................................20

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

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

A. Product Dimensions ..................................................................................................................23

B. Service and Support ..................................................................................................................24

INTRODUCTION

Husky is a rugged and easy-to-use unmanned ground vehicle for rapid prototyping and research

applications. In this guide, you will find information about the setup, operation, and maintenance

of Husky.

What’s Included

Included with the base Husky are the following:

1x Clearpath Robotics Husky

1x 24V Sealed Lead-Acid Battery Pack

1x Battery Door Cover

1x Battery Charger

2x Lockout Keys

3x Power Connectors

What’s Required

To use Husky, you will require a PC capable of running Robot Operating System (ROS).

If a computer option was purchased from Clearpath Robotics with Husky, then the included

laptop or minicomputer has already been configured with Ubuntu 12.04 and ROS Hydro, plus

appropriate ROS packages and other configuration for use with Husky.

Expansions

To expand the capabilities of Husky, consider the following accessories offered by Clearpath

Robotics:

Spare Battery

IMU

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.

THE BASICS

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

a tour of key Husky components.

Figure 1: Husky 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

Status Panel

The status panel is a display of LED indicators located on the rear of the chassis which provide

information about the current status of Husky. 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 Status Panel Icons

Orientation References

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

is shown in Figure 2. Husky is displayed 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.

Pinout References

Husky 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 Reference Frame

Figure 3: Husky DE9 Pinout

System Specifications

Key specifications of Husky 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 Ambient

Temperature

-10 to 30 ⁰C

14 to 86⁰F

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

78,000 ticks/m

Internal Sensing

Battery status

Wheel odometry

Motor currents

Table 2: Husky 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

Vehicle Equations

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

wheel velocity and platform velocity:

𝑣 = 𝑣𝑟+ 𝑣𝑙

2, 𝜔 = 𝑣𝑟− 𝑣𝑙

𝑤

represents the instantaneous translational speed of the platform and

the instantaneous

rotational speed.

and

are the right and left wheel velocities, respectively.

is the effective

track of the vehicle (0.555 m).

Control Modes

Husky supports four distinct control modes:

Kinematic Control, the default, uses a speed control feedback loop, and allows specifying

the desired linear and angular speed of Husky. Access this mode by publishing a standard

ROS Twist message to the /husky/cmd_vel topic.

Torque Control may be used by switching the startup node in base.launch from

kinematic_node to torque_node. In this mode, a Twist message is used as well, but the

linear and angular values specified are multiplied by parameterized scaling factors and

used for a current control feedback loop.

Raw Control may be used by switching the startup node in base.launch from

kinematic_node to raw_node. Raw mode works similarly to torque control, but disables

feedback control altogether, instead using the scaling values to specify open-loop voltage

for the motor drivers. This mode may be useful for novel control algorithms on the PC, or

for debugging a suspected wheel encoder failure.

On included computers set up by Clearpath Robotics, the base.launch file may be found along

with other roslaunch files in the /etc/ros/hydro/husky-core.d/ folder. This folder is owned

by root and sudo will be required to edit its contents, eg:

$ sudo nano /etc/ros/hydro/husky-core.d/base.launch

SAFETY

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

protect the safety of users and the integrity of the vehicle.

General Warnings

Husky 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.

E-Stop and Lockout

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. The commands received

during e-stop are not buffered; Husky will always act on the latest commands received. This

means that if the commands are stopped before the e-stop is released, the Husky will not move.

If the commands are continued, Husky will move at the speed commanded once the e-stop is

released.

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

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

Lockout

Emergency

Stop

Figure 4: Husky Emergency Stop and Lockout

Indice

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