xr4000.jpg (16156 bytes)


Revolutionary holonomic
drive system

Multiprocessor control system
with MemNETTM Shared
Memory TCP/IP network

Advanced power management
with integrated battery charging

User expandable, distributed
real-time control network

Full featured software development
system with real-time extensions and
fully functional simulator

Comprehensive sensor suite
including range, directional,
and vision systems

Click on the manipulator to see more information on XR Flexible Manipulator

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xr4000ds.GIF (13775 bytes)Overview
The XR4000 is an advanced mobile robot system that incorporates state of the art drive, control, networking, power management, sensing, communication and software development technologies. For serious research in mobile manipulation, high speed visual servoing, machine learning, and sensor based navigation the XR4000 offers unparalleled capabilities.

XR Holonomic Drive System
Utilizing advanced distributed control techniques and a robust modular mechanical design, the XR drive system (patent pending) is the first holonomic drive system to offer a full three degrees of freedom (x,y,theta) without penalties in ground clearance, vibration, or mechanical complexity. The XR drive system uses four active drive modules resulting in the coordination of eight independent degrees of freedom. Encoder feetback from these eight axes provides redundant information that is filtered to provide improved dead-reckoning capabilities.

XR MemNET Multi-processor Control System
The XR MemNET control system is a shared memory multi-processor system. At the top level a series of Linux- based Pentium or Pentium Pro (Single or Dual) are networked using TCP/IP with shared memory as its physical layer. While supporting standard networking tools, this architecture offers speed of faster than five times that of standard Ethernet. The shared memory interface is full duplex, which means that there are no collisions and data transfer times are 100% deterministic. This allows for distributed real-time control, something which previously required expensive VME-based systems. Control of subsystems is accomplished through a combination of memory mapped slave controllers that reside on the bus and remote slave controllers that use a real-time token- passing network to create a shared variable space and standard Remote Procedure Call (RPC) capabilities. This real-time network is described in the next section.

XR Synapse Distributed I/O Network
The XR synapse is a network of distributed controllers linked using the ARCNET real-time token-passing network. The synapse network creates a shared variable space and an RPC interface between the controllers and the high level Pentium/Pentium Pro system. This allows for the creation of a very high speed virtual shared memory space between all of the controllers and the Linux systems.

XR Development System
The XR Development System is a full featured distributed mobile robot software development system for the XR series of mobile robots. Its unique distributed architecture uses the following components: a scheduler that synchronizes simulated robots across a network, a multi robot simulator, and a graphic user interface.

XR Helios Power Management System
The XR power management system provides the Nomad XR mobile robot systems with comprehensive power diagnostic and control capabilities. This system allows the robot to be powered directly from AC and also incorporates a sophisticated two stage fast battery-charging system. The current going in and out the batteries is integrated, allowing precise measurement of the charge remaining. Voltage and temperature are measured for each battery as well as providing safe and accurate determination of battery damage or end of life. Independent power control of different subsystems, knowledge of charge remaining, and the potential for self docking into an AC source allows cognitive decisions to made by the system regarding task scheduling and other mission priority issues.

XR Sensors
XR Basic Sensing System

The Sensus 150TM bi-level tactile system provides full tactile coverage over the vertical surfaces of the Nomad XR. In addition to the full overall coverage, 48 bi-level sensing elements surround the top and bottom perimeters of the Nomad XR4000 and provide both the exact location of contact as well as a measure of contact force. Rugged energy absorbing rubber molding protect the top and bottom perimeters of sensing elements.

The Sensus 250TM three dimensional sonar system uses 48 sonar transducers precisely positioned at different levels and angles with coordinated firing patterns to provide complete coverage from the floor to the Nomad XR's ceiling. Firing rates, blanking intervals, firing order, and timeouts can be configured to provide optimal performance in any environment.

The Sensus 350TM infrared system uses 48  transceivers positioned at the top and bottom of the Nomad XR4000. These sensors provide close-range coverage. The Sensus 350 has a very fast sampling rate, making it very useful for short-range work.

The Sensus 450TM Monochrome PCI Vision System
The Sensus 450 is a basic vision system that includes a PCI bus frame grabber, RS-170 camera, Linux drivers, and image processing library.

The Sensus 460TM Color PCI Vision System
The Sensus 460 is a basic vision system that includes a color PCI bus frame grabber, RS-170 camera, Linux drivers, and image processing library.

The Sensus 550TM Time of Flight Laser Ranging System
The Sensus 550 system is a high-speed, long-range sensor that uses the PLS from SICK Electro-Optics to provides up to 360 data points from a 180 degree scan at rates up to 25Hz. Special interface circuitry allows the Nomad XR to accept the range data at full rates without burdening the processor with serial port interrupts.

The Sensus 600TM Digital Compass System
The Sensus 600 is a digital fluxgate compass that has 0.5 degree accuracy in magnetically clean environments.

Fully integrated software is also included consisting of image processing routines, development libraries, and drivers that all run under Linux.


Diameter: 62 cm.
Height: 85 cm.
Weight (Empty): 60 kg.
Weight (With batteries): 150 kg.
Payload: 100 kg.
Max. Acceleration: Translational - 5 m/s2
Max. Acceleration: Rotational - 2 rad/s2
Maximum Translational Speed:- 1.5 m/s
Encoder Resolution:
Base Translation:
1120 counts/cm,
Base Rotation: 422 counts/degree
Caster Orientation: 76 counts/degree
Number of Wheels: 4
Drive Type: Holonomic
Battery Capacity: 1575 watt-hour
CPU: Up to 3 Pentium or Pentium Pro
Power System: Fuel gauge, battery monitoring with onboard charging and full power diagnostics

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