INTRODUCTION TO ROBOTICS AND MICROCONTROLLERS Instructors: Tijjani “TJ” Mohammed and Tarek Abdel-Salam.

INTRODUCTION TO INTRODUCTION TO ROBOTICS AND ROBOTICS AND

MICROCONTROLLEMICROCONTROLLERSRS

InstructorsInstructors: : Tijjani “TJ” Mohammed and Tarek Abdel-SalamTijjani “TJ” Mohammed and Tarek Abdel-Salam

Module OverviewModule Overview A general overview of what robots are, and A general overview of what robots are, and

the essential components embedded withinthe essential components embedded within

Relevant examples of microcontroller and Relevant examples of microcontroller and robot applications to help the participants robot applications to help the participants understand contexts and applications of understand contexts and applications of these technologiesthese technologies

Contextual understanding makes it easier Contextual understanding makes it easier to relate programming efforts to basic to relate programming efforts to basic science, math, or engineering concepts science, math, or engineering concepts

Student objectivesStudent objectivesUpon completion of this module students Upon completion of this module students should be able to:should be able to:

Identify and describe key components of Identify and describe key components of microcontrollers and robotsmicrocontrollers and robots

List typical applications of microcontrollersList typical applications of microcontrollers

Relate number systems and conversions to Relate number systems and conversions to applications in roboticsapplications in robotics

Calibrate the Boe-Bot servos prior to Calibrate the Boe-Bot servos prior to assemblyassembly

Assemble and test a robot using Parallax Assemble and test a robot using Parallax Boe-Bot kitBoe-Bot kit

Teacher objectivesTeacher objectives

Upon completion of this module Upon completion of this module instructors should be able to: instructors should be able to:

Prepare a presentation on the Prepare a presentation on the fundamentals of microcontrollers and fundamentals of microcontrollers and roboticsrobotics

Explain to students the basic building Explain to students the basic building blocks of microcontrollers including the blocks of microcontrollers including the CPU, memory, and input/output.CPU, memory, and input/output.

Explain number systems and their Explain number systems and their usefulness in robotics and computing usefulness in robotics and computing

Walk students through the process of Walk students through the process of constructing and testing a robotconstructing and testing a robot

What is a What is a Microcontroller?Microcontroller?

A microcontroller is a kind of miniature computer that A microcontroller is a kind of miniature computer that found in all kinds of gizmosfound in all kinds of gizmos

Generally speaking, if a device has buttons and a digital display, chances are it also has a programmable microcontroller brain.

Microcontrollers cont.Microcontrollers cont.

Microcontrollers are 'single chip' Microcontrollers are 'single chip' computers specifically designed computers specifically designed to:to:

Read input devices, such as buttons and Read input devices, such as buttons and sensorssensors

Process data or informationProcess data or information Control output devices, such as lights, Control output devices, such as lights,

displays, motors and speakersdisplays, motors and speakers

Microcontrollers are placed in devices, Microcontrollers are placed in devices, or embedded, for operation and control.or embedded, for operation and control.

Can you name other devices in your life Can you name other devices in your life that that have embedded control?have embedded control?

Embedded ControlEmbedded Control

Microprocessor vs. Microprocessor vs. MicrocontrollerMicrocontroller

A A microprocessormicroprocessor is the “brain” of a is the “brain” of a computer systemcomputer system

Generally referred to as the central Generally referred to as the central processing unit (CPU), the processing unit (CPU), the microprocessor by itself is practically microprocessor by itself is practically uselessuseless

To be useful, one must have means of To be useful, one must have means of communicating with it using input and communicating with it using input and output devicesoutput devices

One must also add memory (ROM and One must also add memory (ROM and RAM) so that the system can be RAM) so that the system can be programmed.programmed.

Microprocessor vs. Microcontroller Cont.Microprocessor vs. Microcontroller Cont.

A A microcontrollermicrocontroller is a computer chip is a computer chip designed for control-oriented applicationsdesigned for control-oriented applications

Unlike ordinary microprocessors, Unlike ordinary microprocessors, microcontrollers have built-in features that microcontrollers have built-in features that make them operate almost independent of make them operate almost independent of additional circuitryadditional circuitry

This is possible because microcontrollers This is possible because microcontrollers contain things like contain things like memory (ROM, EPROM, RAM, etc)memory (ROM, EPROM, RAM, etc) input and output portsinput and output ports timerstimers serial and parallel communication capabilityserial and parallel communication capability analog-to-digital converters analog-to-digital converters

The BASIC Stamp 2 embeds a The BASIC Stamp 2 embeds a microcontroller, the PIC16C57, on a microcontroller, the PIC16C57, on a module to make programming and module to make programming and use very simple, yet very powerful.use very simple, yet very powerful.

Additional components on the module Additional components on the module provide everything needed to systems provide everything needed to systems and applications, like robotics.and applications, like robotics.

Boe-Bot’s Brain: The BASIC Boe-Bot’s Brain: The BASIC StampStamp

BASIC Stamp Module BASIC Stamp Module ComponentsComponents

5V RegulatorRegulates voltageto 5V with a supply of 5.5VDC to 15VDC

ResonatorSets the speed at whichinstructions are processed.

EEPROMStores the your PBASIC program.

Interpreter ChipReads the BASIC program from the EEPROM and executes the instructions.

Serial SignalConditioningConditions voltagesignals between PC serialconnection (+/- 12V) and BASIC Stamp (5V) forProgramming.

So What is a Robot?So What is a Robot?

A robot is a machine that gathers A robot is a machine that gathers information about its environment information about its environment (senses) and uses that information (senses) and uses that information (thinks) to follow instructions to do (thinks) to follow instructions to do work (acts) work (acts)

The “sensing” part provides input to the The “sensing” part provides input to the robot through switches, light sensors, robot through switches, light sensors,

The thinking part is the microcontroller The thinking part is the microcontroller brainbrain

The acting part could be through lights, The acting part could be through lights, motors, actuators, sounds, etcmotors, actuators, sounds, etc

Robots and ApplicationsRobots and Applications

Robots come in many shapes and sizesRobots come in many shapes and sizes

1. Kawada's HRP-3P humanoid robot

2. Fanuc ArcMate 100i precision, high-

speed welding and cutting robot

3. MINI-ROBOT RESEARCH —

Sandia National Laboratories

4. Mini-robot that can travel through

the bloodstream

EcologicalData Collection

EME Systems

Undersea ResearchHarbor Branch

Institute

JP AerospaceTest Launch

High-Tech and Aerospace High-Tech and Aerospace useuse

Fundamentals of ElectricityFundamentals of Electricity Electric Current (I), measured in amperes (A)Electric Current (I), measured in amperes (A) Resistance (R), measured in Ohms (Resistance (R), measured in Ohms (ΩΩ)) Voltage (V), measured in volts (V)Voltage (V), measured in volts (V)

A complete path or circuit is required for current to A complete path or circuit is required for current to flowflow R

V

I

Fundamentals of Electricity Fundamentals of Electricity Cont.Cont.

Robotics requires a basic understanding of electricity Robotics requires a basic understanding of electricity and simple wiring diagramsand simple wiring diagrams

The relationship between current, voltage and resistance The relationship between current, voltage and resistance is expressed by what is known as Ohm’s Law, variations is expressed by what is known as Ohm’s Law, variations of which are expressed below:of which are expressed below:

V = IR; V = IR; I = V/R; I = V/R; R = V/IR = V/IR

V

I

+V

R

+ -

Module 1 ActivitiesModule 1 Activities

1.11.1 Installing your robot’s Software Installing your robot’s Software (PBASIC)(PBASIC)

1.21.2 Identifying key components of the Boe-Identifying key components of the Boe-Bot SystemBot System

1.31.3 Assembling initial Boe-Bot componentsAssembling initial Boe-Bot components

1.41.4 Introduction to breadboarding and Introduction to breadboarding and circuit constructioncircuit construction

1.51.5 Testing for communication between Testing for communication between the Boe-Bot and the BASIC stamp the Boe-Bot and the BASIC stamp editoreditor

1.61.6 Calibrating the servosCalibrating the servos

1.71.7 Assembling the Boe-BotAssembling the Boe-Bot

Where We’re Heading…Where We’re Heading…

Simple programming to cause Boe-Simple programming to cause Boe-Bot to perform basic tasksBot to perform basic tasks

Adding input and output circuits Adding input and output circuits Making soundsMaking sounds Measuring and calculating Measuring and calculating

DistancesDistances AnglesAngles SpeedSpeed RotationRotation

Simple to ComplexSimple to Complex

Timing and signal measurementsTiming and signal measurements

Working with equations

Observe, measure, Observe, measure, confirmconfirm

More Signals More Signals MeasurementsMeasurements

Graphical illustration of Graphical illustration of conceptsconcepts

Analyze Analyze different different

waveformswaveforms

Use Accelerometers to Use Accelerometers to MeasureMeasure

AccelerationAcceleration Tilt and tilt angleTilt and tilt angle InclineIncline RotationRotation VibrationVibration CollisionCollision GravityGravity

Something for Everyone Something for Everyone

STAMP Plot For Data AnalysesSTAMP Plot For Data Analyses

Process Control Module for Process Control Module for Advanced ConceptsAdvanced Concepts

Sensing and measurementsSensing and measurements Signal ConditioningSignal Conditioning Data loggingData logging Graphical analysesGraphical analyses Feedback continuous controlFeedback continuous control

ResourcesResources

Parallax Educational Resources http://www.parallax.com/html_pages/edu/index.asp

What is a Robot?