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Lists items included in the Husky A200 kit and prerequisites for operation.
Details optional sensor packages to enhance Husky A200 capabilities.
Visual guide to key components of the Husky A200 platform.
Explains the LED indicators on the Husky A200 status panel.
Defines the coordinate system and reference frame for the Husky A200.
Details the DE-9 connector pin assignments for Husky A200 communication.
Lists the technical specifications of the Husky A200 robot.
Provides the mathematical relationship between wheel and platform velocity.
Describes the different control modes available for the Husky A200.
Critical safety warnings, emergency stop, and lockout procedures for the Husky A200.
Safety advice for performance, electrical system, and handling of the Husky A200.
Guidelines for safely lifting and transporting the Husky A200 robot.
Steps for PC setup and connecting the computer to the Husky A200.
Steps to reconnect the battery for powering on the Husky A200.
Procedure to verify the connection and basic functionality of the Husky A200.
Guide to setting up and using the Robot Operating System (ROS) for controlling the Husky A200.
Overview of the Clearpath Control Protocol (CCP) for interfacing with Husky hardware.
Example Python code for controlling the Husky A200 using the Clearpath API.
Example C++ code for controlling the Husky A200 using the Clearpath API.
Instructions for charging the Husky A200's 24V lead-acid battery.
Recommendations for maintaining and extending the life of the Husky A200 battery.
Information on tire pressure, maintenance, and wheel removal for the Husky A200.
Care instructions for the Husky A200 chassis, including cleaning and water exposure.
Tips on mechanical aspects and troubleshooting common problems with the Husky A200.
Details on installing and verifying Python and the pyserial module for Husky A200.
Instructions for installing ROS and Clearpath ROS packages for Husky A200.
Link to download the current release of the C++ API for Husky A200.
Technical drawings and measurements of the Husky A200 robot.
Contact information and support details for Clearpath Robotics.
The Husky A200 is a rugged and easy-to-use unmanned ground vehicle (UGV) designed for rapid prototyping applications. It serves as a versatile platform for various robotic tasks, offering robust performance and straightforward operation. The vehicle is designed to be controlled via a PC running Windows or Linux, communicating through a standard RS232 serial connection using the Clearpath Communication Protocol (CCP). Open-source software interfaces are available in C++, Python, and National Instruments LabVIEW to facilitate development and control.
The Husky A200 functions as a mobile robotic platform capable of executing a variety of commands and providing feedback on its status. Its core functionality revolves around mobility and sensor integration. The vehicle is equipped with a user power panel, extruded aluminum mounting rails for payloads, and a robust chassis with four wheels. Key components include a power button, status panel, emergency stop, and lockout mechanism, all designed to ensure safe and reliable operation.
The vehicle's control system supports three distinct control modes: voltage control, speed control, and velocity control.
Communication with the Husky A200 is handled via a female DE-9 connector, which can be connected to a host device using a USB-serial adapter or a PC serial port. The Clearpath Communication Protocol (CCP) is a binary serial protocol designed for reliable communication with low overhead and complexity. Clearpath Robotics provides implementations of CCP in Python, C++, and LabVIEW, along with a driver for the Robot Operating System (ROS) built on the Python implementation.
The Husky A200 also supports expansion with additional sensor packages offered by Clearpath Robotics, such as LIDAR, network cameras, and GPS. These packages come with custom mounting brackets and cabling for easy attachment to the vehicle's extruded aluminum payload mounting rail, enhancing its capabilities for various applications.
The Husky A200 is designed for ease of use, particularly for rapid prototyping. Before operation, it is recommended to place the Husky "up on blocks" (e.g., a wooden crate or sturdy storage tub) to keep the wheels clear of the ground, especially during initial experiments and software development. This precaution helps ensure safety by preventing unintended movement.
The vehicle's status panel, located at the rear of the chassis, provides critical information through LED indicators:
The emergency stop button and lockout mechanism are crucial safety features located on the back of the Husky. The e-stop, when activated, cuts power to the motor drivers, preventing the vehicle from moving. The lockout provides a secondary e-stop for periods when the Husky is left unattended; in this mode, the robot powers on but motors will not drive. Users are advised to always ensure the e-stop button is accessible and not obstructed by payloads.
For initial setup, the battery, which comes fully charged but disconnected for shipping, needs to be connected. This involves opening the battery door, connecting the battery plug to the fuse panel, and then re-seating the door. The main power button, located above the status panel, powers on the Husky, illuminating blue and initiating a brief test pattern on the status panel lights. The comm status light will initially be red until the PC establishes communication.
Clearpath Robotics provides officially-supported Robot Operating System (ROS) drivers for the Husky A200, based on the Python interface. This allows for ROS-based teleoperation, where a joystick can be used to control the Husky. The joy_node interfaces with the joystick, producing ROS Joy messages, which are then consumed by the clearpath_teleop node. This node applies scale factors and produces Twist messages, which are finally received by clearpath_base and forwarded as velocity commands to Husky via CCP. This setup allows for both local and remote teleoperation.
The Husky A200 is built for rugged, long-term use, but proper maintenance is essential to extend its lifespan and ensure optimal performance.
The Husky A200 is powered by a sealed 24V lead-acid battery pack (VRLA). To maximize battery life, it should be recharged immediately after use and kept charged to prevent capacity loss. Charging can be done off-board or while the battery is installed in the Husky. If charging while installed, the battery must be disconnected from the fuse panel. The provided battery charger uses a three-state charge cycle:
Tire pressure should be checked periodically as it can change with temperature. The tire's inflation stem is used for checking, releasing, and inflating pressure. Tire pressure should not exceed 20 psi. Lower pressures (e.g., 10 psi) may be desired for better traction on rough terrain, though this can reduce drivetrain efficiency and battery life. Higher pressures (up to 20 psi) are recommended for flat surfaces. If a tire needs removal, the four M5 Socket Head Cap Screws joining the wheel to the axle hub must be unfastened. When replacing, these screws should be tightened to 3.7 ft-lb [5 N-m] torque.
The Husky is an all-weather robot but is not waterproof. Care must be taken to ensure no part of the main chassis is submerged in water. If the chassis becomes wet or dirty, it should be wiped down with a cloth and warm water, then dried with a towel. If water is suspected to have entered the chassis, the battery should be removed, and the Husky allowed to dry completely for 24 hours.
Husky's motors are rated for 4A continuous draw but can spike higher, especially on rough terrain or during turns. For continuous operation longer than ten minutes, it is recommended to monitor current draw using CCP message 0x4004 to request general system status. This message provides total draw, left motor current, and right motor current. Monitoring these fields helps prevent excessive wear on the motors. To reduce current draw, commanding wider-radius turns from the control software is advised.
Husky's 24V sealed lead-acid battery is capable of delivering 1800W, which can cause severe bodily harm. Users must observe several precautions:
For safety and to maximize the Husky's lifetime, it should be lifted by two persons, firmly gripping the front and rear bumper-bars. The Husky should be e-stopped when transporting short distances and powered off for longer distances.
The manual provides guidance for common issues:
For any issues not covered or if suggested solutions don't work, users are encouraged to contact Clearpath Robotics for support.
General| Payload Capacity | 75 kg |
|---|---|
| Speed | 1.0 m/s |
| Navigation | IMU |
| Control System | ROS |
| Communication Interfaces | Ethernet, WiFi |
| Sensors | IMU |
| Software | ROS |
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