©2014 Clearpath Robotics Inc. All Rights Reserved.
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.
Figure 4: Husky Emergency Stop and Lockout
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