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1. MEET A KJ GrIPPEC User manual K Tea m gt version 1 0 JUNE 2010 MOBILEIROBOTIC S K Junior Gripper User Manual rev 1 0 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp K Junior K Team LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual K Junior Gripper User Manual rev 1 0 3 TABLE OF CONTENTS K Junior Gripper User Manual rev 1 0 1 INTRODUCTION The hardware of K Junior is based on a modular concept The Gripper is a turret that can be plugged on the basic configuration making object manipulation possible Due to the configuration of this turret other turrets can be plugged on the top of it but can t be under the Gripper The gripper must be the first turret plugged on the K Junior in order to keep mechanical fixings accessible In order to match which each configuration the K Junior Gripper is available in two different versions The K Jun2. Second apply force to insert the turret into the extension connector e Screw the two screws provided with the gripper on the fixings see number 8 fig 2 1 If you have any other extension plug it on the Gripper as usual Turn on the Gripper switch and finally turn on the K Junior Figure 3 1 Gripper mounted on the K Junior DO NOT try to connect the Gripper on other connector or in another position This could damage the Gripper turret and the K Junior K Junior Gripper User Manual rev 1 0 11 3 2 Disassembling For the disassembling be careful that the Gripper and the Robot must be turned OFF e Unscrew the two fixing screws e Then take the robot with one hand and the gripper with the other and pull vertically to avoid to twist the connector pins and broke the connector K Junior Gripper User Manual rev 1 0 12 4 Gripper Use 24 There s two different way to control the Gripper on the K Junior Robot e Programming the K Junior in C language using the library of the KJiOs e Serial remote control using labview MatLab or any other application with a serial protocol 4 1 Programming in C language To program the K Junior with the C language you must have the CCS compiler You can buy directly at K Team a limited version of the compiler to use only with the microcontroller of the K Junior Please read first the K Junior Os manual http ftp k team com K Junior KJOSManual doc to find all necessary informati
3. file must be in the same directory of course K Junior Gripper User Manual rev 1 0 15 4 2 Serial Remote Control From the K Junior firmware version A 01 you can access to the I2C modules through the serial protocol If you have an older version of firmware you can update it by downloading the last version on our website Please have a look at the last K Junior User Manual to learn more about the serial protocol Example e R 97 00 Read the Gripper Firmware version This property can be use with any software which have a serial communication protocol like sysquake Matlab K Junior Gripper User Manual rev 1 0 16 Technical Specification Weight 200 g Power Supply 5 V Maximum payload 30 g Minimum object size 1 mm Maximum object size 70 mm Autonomy up to 3 hours K Junior Gripper User Manual rev 1 0 K Junior Gripper User Manual rev 1 0 K Junior Gripper User Manual rev 1 0 K Tea m gt Ge Eau 9 1400 TVErDON LES BAINS MOBILE ROBOTICS guyrrzeruano A DIVISION OF KT amp GT gt gt gt K Junior Gripper User Manual rev 1 0 20
4. speed control see Speed Register 2 6 4 Speed Register Reading Read the value of the desired speed of the Arm or the Gripper 0 is the slowest and 255 the fastest Writing Configure the speed to reach when a move is made with speed control 2 6 5 Voltage Register Read the value of the battery voltage only Deluxe version return 0 on LE version This value must be converted as following to obtain the real voltage value Voltage Voltage Re gister 5 1024 2 6 6 Available Remaining Capacity Return the Available Remaining Capacity in percent of the battery only Deluxe version The calculation of this value is made on the voltage of the battery so this value is not guarantee to be exact This is just an evaluation of the battery K Junior Gripper User Manual rev 1 0 10 3 Connections m Assembling and disassembling additional turret is a delicate operation Try to avoid it as much as possible and perform it carefully Please follow the following instructions to avoid damage to your modules K Team can assume no responsibility for any damage caused by improper manipulation 3 1 Assembling Assembling is guite easy but it also necessary to perform it carefully e First of all choose the parameters of the K Junior robot and set the switches if necessary e Assemble the Gripper turret on the K Junior directly in two steps First place the module on the extension connector checking that all pins are seated correctly
5. Read the Gripper speed value Set the Gripper speed value for speed control 0 255 Read the Arm turn off flag Configure the Arm turn off mode 0 disable 1 active Read the Gripper turn off flag Configure the Gripper turn off mode 0 disable 1 active Read the Battery voltage Do Nothing read only Read the Battery remaining capacity Do Nothing read only All the 16bits register Position Consign Voltage must be read or write through the LSB byte first K Junior Gripper User Manual rev 1 0 9 2 6 1 Firmware Version register This register return the version and revision of the Gripper turret 2 6 2 Position Register Arm and Gripper Reading This register return the real position of the Arm or the gripper The returned value is proportional to the angle of the Arm or the Gripper Where 0 is the LOW position for the Arm and closed position for the Gripper And the maximum position is 7000 for the Arm and 5100 for the Gripper Writing Setting this register will change the position of the Arm or the Gripper The servo will immediately move to the position without speed control Warning move too fast can make the K Junior lurching 2 6 3 Order register Arm and Gripper Reading This register return the previous order of position value which was set by the user Writing Setting this register will told to the turret to move the Arm or the Gripper to the desired position with a
6. Speed HemGripperReadArmSpeed 4 1 8 unsigned char HemGripper_Read_Gripper_Speed void Function Read the speed for the Gripper movement Example unsigned char GripperSpeed GripperSpeed HemGripperReadGripperSpeed 4 1 9 unsigned char HemGripper_Read_Arm_Disable void Function Read the flag which indicate if the Arm servo must be turn off or not when it reached a stable position Example unsigned char ArmDisableFlag ArmDisableFlag HemGripperReadArmDisable 4 1 10 unsigned char HemGripper_Read_Gripper_Disable void Function Read the flag which indicate if the Gripper servo must be turn off or not when it reached a stable position Example unsigned char GripperDisableFlag GripperDisableFlag HemGripperReadGripperDisable 4 1 11 unsigned int16 HemGripper Read Battery Voltage void Function Read the value of the battery voltage Example unsigned int16 Battery Voltage Battery Voltage HemGripperReadBattery V oltage 4 1 12 unsigned char HemGripper Read Battery Capacity void Function Read the value of the available remaining capacity of the battery Example unsigned char Capacity Capacity HemGripperReadBatteryCapacity 4 1 13 void HemGripper_Set_Arm_Position unsigned int16 value Function Set the new position of the arm The servo will reach this position as fast as possible Example HemGripperSetArmPosition 3500 K Junior Gripper User Manual rev 1 0 14 4 1 14 void HemGripper Set Gripper Pos
7. ecycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment K Junior Gripper User Manual rev 1 0 6 2 The K Junior Gripper 2 1 Overview Figure 2 1 Overview of the Gripper turret layout Make an external inspection of the turret Note the location of the following parts 1 venama 11 12 Main Support Screws to fix on the robot Power input connector Charge Led Additional battery Extension connectors Power on Led ON OFF switch Reset button Arm Gripper Foam grip K Junior Gripper User Manual rev 1 0 7 2 2 Arm The arm makes the displacement of the gripper possible The movement of the arm allows to grab object in front of the Robot and takes it above This allows the Robot to keep its mobility and all sensors free of obstacle The arms is moved by a DC servo motor which is control by a local microcontroller to allows the user to set every position he wants The movement can be done at the maximum speed or with a speed regulation to avoid the lurching of the Robot Different speed can be adjust to match with the application When you have a heavy load you must set a slower speed to avoid the lurc
8. hing of the robot The maximum load that can carry the gripper is approximately 30g The arm can be moved between the position 0 LOW position arm in the lowest position to grab object and 7000 TOP position arm above the robot against the end stop A special mode active by default turn off the servo of the arm when it reach the TOP position between 5600 7000 or the LOW position 0 250 This will increase the battery autonomy when the arm is in stable position 2 3 Gripper The gripper is installed at the end of the arm with two foam grip which allows to grab different size and form of object The user can choose the exact position of the gripper between the maximal open position 5100 lt where the gripper will form a angle of 180 degrees and the closest position 0 lt where each foam will touch the other The maximal size of an object is about 70mm and the minimal size is about 1mm The user can know the exact position of the gripper only when there s no object grabbed When you grab an object the servo will try to reach the closed position but cannot reach it because of the object between the two foam This will make the tightening If you know the size of your object you can adjust the closed position to the object size This will allows you to limit the tightening torgue and then limit the current in the motor to increase the battery autonomy A special mode active by default turn off the servo of the Gripper when
9. ior gripper has an additional Battery 1350mAh to keep the autonomy of the K Junior unchanged when used with the Gripper up to 3h The charger is on board an external power supply is provided with the Gripper The monitoring of the battery is made by the CPU A microcontroller installed in the gripper manages local functionalities position and speed control of the arm and gripper battery management and communication with the K Junior A I2C network connects this local microcontroller to the K Junior processor Some registers accessible by the I2C bus allows to control the Gripper from the main processor where the high level control structure can be implemented 1 1 How to use this handbook This manual is organised into four chapters and an appendix To learn how to make the best use of your gripper turret you are urged to read all of chapters 2 to 4 The appendix can be referred to as necessary e Unpacking and Inspection K Junior Gripper s package description and first start up The K Junior Gripper Description of all the gripper s functionalities e Connections Explanation on how to connect or disconnect the gripper to the robot e Gripper use Instructions to program the gripper using the high level function or access directly to the gripper registers K Junior Gripper User Manual rev 1 0 5 1 2 Safety precautions Here are some recommendations on how to correctly use the K Junior Robot 1 3 Don t force mechanical mo
10. it reach the Open position between 2300 5100 This will increase the battery autonomy when the Gripper is open K Junior Gripper User Manual rev 1 0 8 2 4 Battery An additional battery is included in the Gripper to increase the autonomy of the Gripper and the K Junior This is a LiPol Battery with a capacity of 1350mAh A external power supply adapter SV 1 4A is deliver with the Deluxe package to charge the gripper Battery A complete charge take approximately 3 hours Please be sure that the gripper and the K Junior are turn off Otherwise the charge process can be much longer 2 5 PC Address The K Junior Robot control the Gripper through an I2C bus The turret address is defined by 7 bits 1 bit for the mode selection write or read 1 0 04j1j0 1 1 RW The Gripper I2C address is 0x97 in read mode and 0x96 in write mode 2 6 FC Register Many different register allows the user to configure and use the Gripper IC Address Firmware Version Do Nothing read only Read the position of the Arm Set the Arm position without speed control 0 7000 Read the position of the Gripper Set the Gripper position without speed control 0 5100 Read the order of the Arm Set the Arm consign to reach a position with speed control Read the order of the Gripper Set the Gripper consign to reach a position with speed control Read the Arm speed value Set the Arm speed value for speed control 0 255
11. ition unsigned int16 value Function Set the new position of the gripper The servo will reach this position as fast as possible Example HemGripperSetGripperPosition 100 4 1 15 void HemGripper Set Arm Consign unsigned int16 value Function Set the consign of the arm The Arm will reach this position with the defined speed Example HemGripperSetArmConsign 2000 4 1 16 void HemGripper_Set_Gripper_Consign unsigned int16 value Function Set the consign of the Gripper The Gripper will reach this position with the defined speed Example HemGripperSetGripperConsign 4000 4 1 17 void HemGripper_Set_Arm_Speed unsigned char value Function Set the speed consign for the movement of the arm Example HemGripperSetArmSpeed 100 4 1 18 void HemGripper_Set_Gripper_Speed unsigned char value Function Set the speed consign for the movement of the Gripper Example HemGripperSetGripperSpeed 100 4 1 19 void HemGripper_Arm_Disable unsigned char value Function Configure if the Arm must turn off its motors once a stable position is reached Example HemGripperArmDisable 1 4 1 20 void HemGripper_Gripper_Disable unsigned char value Function Configure if the Gripper must turn off its motors once a stable position is reached Example HemGripperGripperDisable 0 Remember to use these functions you must first include the Gripper library in the beginning of your source code include HemGripper h the
12. on about the installation of CCS and the use of the KJOs e Download now the last version of the KJiOS and the Gripper Library on our website e Open the KJOs project with CCS 4 1 1 void HemGripper Init void Function Gripper Initialization This function must be called at the beginning of each program using the Gripper Example HemGripperlnit 4 1 2 char HemGripper_Read_Version void Function Read the firmware version Example char Version Version lt HemGripperReadVersion 4 1 3 unsigned int16 HemGripper Read Arm Position void Function read the position of the Arm 0 7000 Example unsigned int16 ArmPosition ArmPosition HemGripperReadArmPosition 4 1 4 unsigned int16 HemGripper_Read_Gripper_Position void Function read the position of the Gripper 0 5100 Example unsigned int16 GripperPosition GripperPosition HemGripperReadGripperPosition 4 1 5 unsigned int16 HemGripper_Read_Arm_Consign void Function Read the position Consign of the Arm Example unsigned int16 ArmConsign ArmConsign HemGripperReadArmConsign K Junior Gripper User Manual rev 1 0 13 4 1 6 unsigned int16 HemGripper Read Gripper Consign void Function Read the position Consign of the Gripper Example unsigned int16 GripperConsign GripperConsign HemGripperReadGripperConsign 4 1 7 unsigned char HemGripper_Read_Arm_Speed void Function Read the speed for the Arm movement Example unsigned char ArmSpeed Arm
13. vements of the gripper Movements of the gripper mechanical parts have to be controlled ONLY by software Forcing arm or gripper open or close movements can damage the gripper mechanics Keep out from the wet places A contact with water can made a short circuit and damage the electronics Use only the official charger or the cable which is delivered with the Gripper Do not try to use another charger this can cause irreversible damage to the battery Don t plug or unplug any connector or turret when the robot is powered All connections and turret insertions must be made when the robot and the interface are switched OFF Otherwise damages can occur Never leave the K Junior powered when it is unused When you have finished working with K Junior turn it off It will save the battery life Unpacking and inspection Please check that you have a complete package You should find 1 4 Documentation The Gripper Turret with a Battery pack External power supply to charge the onboard battery Two screws to fix the Gripper on the K Junior Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By r
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