Kobuki Turtlebot II. User’s Manual
1. Robot description
Kobuki Turtlebot 2 is a low-cost mobile research base designed for education and
research on state of art robotics. With continuous operation in mind, Kobuki provides
power supplies for an external computer as well as additional sensors and actuators. Its
highly accurate odometry, amended by our factory calibrated gyroscope, enables precise
navigation.
This robot is a compatible replacement for the iRobot Create. Although most of the
accessories are fully compatible, be careful when plugging any device from the iRobot
version to Kobuki version, because the connectors pin-out could be different.
1.1 Functional Specification
● Maximum translational velocity: 65 cm/s
● Maximum rotational velocity: 3.14 rad/s
● Payload: 5 kg (hard floor), 4 kg (carpet)
● Cliff: will not drive off a cliff with a depth greater than 5 cm
● Threshold Climbing: climbs thresholds of 12 mm or lower
● Rug Climbing: climbs rugs of 12 mm or lower
● Expected Operating Time: 3/7 hours (small/large battery)
● Expected Charging Time: 1.5/2.6 hours (small/large battery)
● Docking: can perform docking within a 2mx5m area in front of the docking station
1.2 Hardware Specification
● PC Connection: usb or via RX/TX pins on the parallel port
● Motor Overload Detection : disables power to motors on detecting high current
● Odometry: 25718.16 ticks/revolution, 11.7 ticks/mm
● Gyro: factory calibrated, 1 axis (100 deg/s)
● Bumpers: left, center, right
● Cliff sensors: left, center, right
● Wheel drop sensor: left, right
● Power connectors: 5V/1A, 12V/1.5A, 12V/5A
● Docking recharging connector: 19V/2.1A- Expansion pins: 3.3V/1A, 5V/1A, 4 x
analog in, 4 x digital in, 4 x digital out
● Audio : several programmable beep sequences
● Programmable LED: 2 x two-coloured LED
● State LED: 1 x two coloured LED [blinking - charging, Green - high level, Orange -
low level]
● Buttons: 3 x touch buttons
● Battery: 14.8 V lithium-Ion 2200 mAh (small) 4400 mAh (large)
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