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KHEPERA IV EXTENSIONS

KHEPERA IV EXTENSIONS

GRIPPER

k4-gripper

KOREIOLE

koreio-le

KOREIO

koreio

KOREMOTORLE

koremotorle

EXPANSION TURRET

k4-expansion-back-300x207

EXTERNAL CHARGER PACK

k4-ext-charger-with-battery-300x165

LASER RANGE FINDER

k4-lrf-1005x1030

INDOOR GLOBAL POSITIONING SYSTEM (STARGAZER)

k4-sg-1030x809

GRIPPER

The gripper is a turret that can be plugged on the robot. It gives to the Khepera IV the ability to grab and move objects. Two degrees of freedom for accurate and robust manipulation and transportation of objects of 5cm width and 50g load. Made from high precision mechanical parts.

ELEMENTS TECHNICAL INFORMATION
Max load size 5 cm
Max load weight 50g
Power supply By the robot
Size closed and up: 108mmx115mmx155mm (HxWXL)
Weight 600g
Sensors Resistivity, arm position, motor current, infrared
Functions Grab object, detect object, measure resistivity of the grabbed material
Autocalibration Builtin
 

 

k4-gripper

k4g_21

Includes:

  • Kh4 Gripper

Requirements:

Software

  • will be included in the new libkhepera library

User Manual

KOREIOLE

The KoreIOLE is a general Input and Output extension board for the Khepera IV. It provides several interfaces for digital I/O, digital power outputs, 10 bit analog inputs. The KoreIOLE can operate in stand-alone mode or communicate with a Khepera IV or any external SPI or I2C master. A CAN bus controller is also included to connect a Khepera IV to any CAN devices.

The KoreIOLE supports the KB-250 interface. The KB-250 interface is an open standard interface to expand the functionality of a Khepera robot in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality. Several KoreIOLE boards can be placed on one stack to allow control of a large number of I/O.

A set of high level commands is provided, to easily interface Khepera programs or for external operations.

 

 

 

koreio-le

ELEMENTS TECHNICAL INFORMATION
Digital IO 16 x 5V digitial IO that can be independently configured as
– Input
– Ouput
– PWM output
Digital Power Output 6 x digital power outputs
– up to 1 Amps per channel
– externaly provided voltage supply
– fuse protected
Analog Input 12 x analog inputs
– timestamped 10bit analog to digital converters
– 0-5V input with a 0.005V resolution
Interface I2C Interface (400kbps)
KB-250 Male Interface (for communication with the Khepera IV)
KB-250 Female Interface (for stacking)
Dimensions 85mm x 57mm
Includes:

  • KoreIOLE board

Requirements:

User Manual

KOREIO

KoreIO is a general Input and Output extension board for Khepera IV. It provides several interfaces to additional digital IO, digital power outputs, 10 bit analog inputs and 8 bits analog outputs. A CAN bus controller is also included to connect a Khepera IV to any CAN devices.

A special PWM ouput mode is available to control standard Servo Motors. The KoreIO board is able to control up to 10 Servo Motors simultaneously, and to provide them with 5V power supply.

KoreIO board supports standalone usage using a serial or I2C interface and it can be included in a    KB-250 stack as well. The KB-250 interface is an open standard interface to expand the functionality of an existing ARM base platform in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developpers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality.

A set of high level commands is provided, to easily interface the Khepera IV programs or for external operations with the libkhepera.

 

 

koreio

ELEMENTS TECHNICAL INFORMATION
Digital IO 16 x 5V digitial IO that can be independently configured as
– Input
– Ouput
– PWM output
Digital Power Output 6 x digital power outputs
– up to 1 Amps per channel
– externaly provided voltage supply
– fuse protected
Analog Input 12 x analog inputs
– timestamped 10bit analog to digital converters
– 0-5V input with a 0.005V resolution
Analog Ouput 8 x 8bit analog outputs
– 4.5V to -5V voltage range
– 15 mA drive current per channel
CAN bus Controller CAN bus controller and transceiver
– 1Mbps data rate
Interface K-Net Interface (for communication with Khepera and Koala)
I2C Interface (400kbps)
RS232 Serial Interface (115kbps)
KB-250 Male Interface (for communication with Khepera IV)
KB-250 Female Interface (for stacking)
Dimensions 85mm x 57mm
Includes:

  • KoreIO board

Requirements:

User Manual

KOREMOTORLE

KoreMotorLE provides two DC motor channels. It can drive up to two DC motors using separate PID’s to control position, and speed. The PID control loop is implemented with 32-bit calculations, with a 32-bit position value and a 16-bit velocity value. Current measurement feedback is also available to detect torque and stall conditions for the motors.

KoreMotorLE does not support standalone operation. The board must be connected to a Khepera IV using the KB-250 stack.

The KoreMotorLE supports the KB-250 interface. The KB-250 interface is an open standard interface to expand the functionality of an existing Khepera robot in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality. Several KoreMotorLE boards can be placed on one stack to allow control of a large number of motors.

 

koremotorle

Features:

  • Control for 2 DC motors with incremental encoders.
  • Motor requirements:
    • 5-28V
    • 25W max
    • 2.5A max continuous
    • 5.0A max peak
  • Control:
    • open or closed loop regulation
    • position, speed and current (torque) control
    • adjustable sampling frequency from 10Hz up to 12kHz
  • One 2A fuse per motor and one common 5A fuse
  • K-Net Interface (for communication with Khepera and Koala)
  • KB-250 Male Interface for communication with Khepera IV
  • KB-250 Female Interface for stacking

Includes:

  • KoreMotorLE board

Requirements:

User Manual

EXPANSION TURRET

 

k4-expansion-back-300x207

The expansion turret can be plugged on the top of the Khepera IV to improve the capabilities of the Khepera IV. This turret will provide many different options to the Robot:

 

With the expansion turret it is now possible to connect and use on the same Khepera robot a LRF module and a stargazer module at the same time. The expansion turret give access of different GPIO’s of the Khepera by soldering a wire:

  • – Main ground
  • +3.3V supply output (max 2A)
  • +5V supply output (max 2A)
  • COM3 Tx (ttyS2), GPIO166
  • COM3 Rx (ttyS2), GPIO165
  • Interrupt 1 input, GPIO10
  • Interrupt 2 input, GPIO186
  • I2C SCL, GPIO184
  • I2C SDA, GPIO185
  • SPI MISO, GPIO173
  • SPI MOSI, GPIO172
  • SPI CLK, GPIO171
  • SPI CS1, GPIO175
  • PWM1, GPIO144
  • Kh4 battery Voltage
  • COM1 Rx (ttyS0), GPIO151
  • COM1 Tx (ttyS0), GPIO148
 

 

k4-expansion-back-300x207

Here is the possible configurations with the expansion turret :

K4 expansion turret alone

k4-expansion-back-300x207

Expansion turret with additional battery inserted in

k4-expansion-with-battery

K4 expansion turret with LRF sensor Hokuyo URG-04LX-UG01

k4-lrf1

K4 expansion turret with Stargazer module

k4-sg-stargazer

K4 expansion turret with LRF, Stargazer and additional battery

k4lrf-sg-addbattery

Left setup on the Khepera IV

k4lrf-sg-on-k4

Includes:

  • Kh4 expansion turret

Requirements:

Software

  • will be included in the new libkhepera library

User Manual

EXTERNAL CHARGER PACK

The K4 external charger pack is an option to the expansion board. Composed by two batteries, an external charger and a power supply. It is used to add autonomy to the Khepera IV robot. The additional battery of 3600mAh adds about 5 hours of autonomy to the Khepera IV. It is particulary indicated when you use a Stargazer and / or a LRF module, in order to save the autonomy of the robot.

Another advantage is that you are able to change the additional battery while the nattive battery inside the robot is still powering the robot, making unnecessary to restart your robot and allowing you to run a virtualy unlimited experimentation time.

The additional battery is plugged into the expansion board (not included in the K4 external charger pack).

The pack include two additional batteries and the charger which can charge up to 2 batteries in about 4 hours.

 

k4-ext-charger-with-battery-300x165

Here is a brief summary of the gain of autonomy with the additional battery : 
Setup Autonomy without additional battery Autonomy with additional battery
KheperaIV alone about 7 hours about 12 hours *
KheperaIV with LRF about 5 hours about 8.5 hours *
KheperaIV with StarGazer
about 4 hours about 7 hours *
KheperaIV with LRF+StarGazer
about 3 hours about 5 hours *
KheperaIV with Gripper
about 4 hours about 7.5 hours *
KheperaIV  with Gripper+LRF+StarGazer
about 2.5 hours about 4.5 hours *

*Time indicated above are average, depending of the CPU and motor use.

Additional battery (the pack includes two of them)

k4-battery

External charger, it can charge up to two batteries in the same time in about 4 hours.

k4-expansion-back-300x207

Includes:

  • Kh4 external charger
  • Powersupply
  • Two Khepera IV batteries

Requirements:

LASER RANGE FINDER

The expansion turret can receive in option a Laser Range Finder module. It is used to do navigation, specially for mapping and localization. A laser inside the sensor is scanning the robot environment, measuring each 0.36 degrees the distance from any object at its height. The model which can be used is the URG-04LX-UG01 from Hokuyo . The turret gives the mechanical support for the sensor and the connectivity for it. In option, you can add a battery with the external charger pack in order to save Khepera IV robot autonomy.
ELEMENTS TECHNICAL INFORMATION
Range 20 mm to 5600 mm
Accuracy 60 to 1000mm : ±30mm ,
1000 to 4095mm : ±3% of measurement
Angular resolution approx. 0.36 degree
Autonomy 2 hours
Weight 300g
Software Libkorebot
Scanning time 100ms / scan

LRF module on the expansion turret

k4-lrf1

 

Includes:

  • Kh4 expansion turret with the LRF module installed

Requirements:

Software

  • will be included in the new libkhepera library

User Manual

INDOOR GLOBAL POSITIONING SYSTEM (STARGAZER)

 

k4-sg-stargazer

The Stargazer is a module allowing the Khepera IV robot to have indoor global position and bearing from passive landmarks marks.

It is used to do navigation, specially for mapping and localization. The module has IR Led’s for lighting landmarks and a camera for capturing the image, which is processed by on-board electronics. It computes position and bearing related to landmarks stuck on the ceiling. It uses the StargazerTM module from Hagisonic co. Ltd.

This a top module. No module can be plugged above this one.

ELEMENTS TECHNICAL INFORMATION
Range 2.5-3 m of diameter with 1 landmarks (for ceiling height of 2.4 m; can be improved by adding landmarks)
Accuracy 3.5 cm / 3 degrees
Measurement time 10 times /sec
Autonomy 2h30 ; Li-Pol battery
Weight 117 g
Software Libkhepera
Compatibility Khepera IV extensions (KB-250 specifications)
 

ksg_schema2

 

Includes:

  • Kh4 expansion turret with the Stargazer module installed

Requirements:

Software

  • will be included in the new libkhepera library

User Manual

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