Roboticx Presentation Final

What is a ROBOT???

9 September 2010

copyright Kaushik Ray

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Robotics History1920

The idea of a robot is not new. For thousands of years man has been imagining intelligent mechanized devices that perform human-like tasks. He has built automatic toys and mechanisms and imagined robots in drawings, books, plays and science fiction movies.9 September 2010 copyright Kaushik Ray Week 1

Robotics HistoryWhat is the definition of a 'robot'?"A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks" Robot Institute of America, 1979

Where did the word 'robot' come from?In fact, the term "robot" was first used in 1920 in a play called "R.U.R." Or "Rossum's universal robots" by the Czech writer Karel Capek.The plot was simple: man makes robot then robot kills man! Many movies that followed continued to show robots as harmful, menacing machines.9 September 2010 copyright Kaushik Ray 3W eek 1

Robotics HistoryMore recent movies, however, like the 1977 "star wars", portray robots such as "C3PO" and "R2D2" as man's helpers. "Number five" in the movie "short circuit" and C3PO actually take on a human appearance.These robots, which are made to look. human are called "androids".4W eek 1

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Robotics HistoryHowever, robots of today are not exactly the walking, talking intelligent machines of of movies, stories and our dreams. Today, we find most robots working for people in factories, warehouses, and laboratories. In the future, robots may show up in other places: our schools, our homes, even our bodies.

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Robotics HistoryToday fully functioning androids are many years away due to the many problems that must be solved. However, real, working, sophisticated robots are in use today and they are revolutionizing the workplace. These robots do not resemble the romantic android concept of robots. They are industrial manipulators and are really computer controlled "arms and hands".9 September 2010 copyright Kaushik Ray 6W eek 1

Robotics HistoryRobots have the potential to change our economy, our health, our standard of living, our knowledge and the world in which we live. As the technology progresses, we are finding new ways to use robots.

Each new use brings new hope and possibilities, but also potential dangers and risks.

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Robotics Historyy

Benefits of Robots

Robots offer specific benefits to workers, industries and countries. If introduced correctly, industrial robots can improve the quality of life by freeing workers from dirty, boring, dangerous and heavy labor.8W eek 1

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Robotics HistoryRobotics for bio-productionMany robots for bio-production have been developed in the world and it is predicted that they will be commercialized in the 21st century, since some of them were already commercialized by some companies in Japan and European countries. A tomato and cherry tomato harvesting robot, a cucumber harvesting robot, strawberry harvesting robots, a multioperation robot to work in grapevine yard, and a chrysanthemum cutting sticking robot.9W eek 1

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Robotics History

EMT

HAZBOT III is part of JPL's Emergency Response Robotics Project, a five-year effort begun in 1991 to apply robotics technology to the safe handling of hazardous materials. Robots such as HAZBOT also hold potential for use in mining and law enforcement. "It's almost standard now to have robots on bomb squads in major cities, but it took several years for the idea to catch on," said Richard Welch, task manager of Emergency Response Robotics at JPL.

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Robotics HistoryAnd FutureThe Mars 2003 Rover Project is designed to have two scientific rovers going to Mars in 2003. Each rover will search for evidence of liquid water that may have been present in Mars past. The rovers will be identical to each other, but will land at different regions of Mars.

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Manual Robotics Semi-Autonomous Robotics Autonomous Robotics

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The Components of RobotMotor/Locomotion system

Power Management

ROBOT

Control System

Sensors

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Sensors

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SensorsSensing?The perception that something has occurred or some state exists. To make a detectable signal (generally electric) from any physical quantity.

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SensorsWhy do robots need sensors?

Why do you need sense organs??

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SensorsWhy do robots need sensors?

Similarly The Robots Need to know about

Internal information Localization Obstacles Tracking

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SensorsDifferent types of SensorsUltrasonic Sensor

Touch Sensors Infrared(IR) Sensors Light SensorsCapacitive Sensor

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SensorsDifferent types of SensorsThermal Sensor Inductive Sensor

Rotation Sensor Laser Sensor Light Sensor

Video Camera9 September 2010 copyright Kaushik Ray 19

Sensors Touch Sensors Simplest sensor. Uses a crude method of sensing.l tri l fl

f r

lt r t

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Sensors Infrared Sensors Infrared (IR) radiation is part of the electromagnetic spectrum. Radio Waves Microwaves Infrared The Visible Spectrum Ultra Violet Gamma Rays x-Rays The name means below red, red being the color of visible light of longest wavelength. Wave length range- 750 nm and 1 mm.9 September 2010 copyright Kaushik Ray 21

Sensors Infrared Temperature Sensors Every object (with the exception of a blackbody) emits an optimum amount of IR energy at a specific point along the IR band.

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Sensors Infrared SensorsTransmitterTransmitter

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Sensors Infrared SensorsReceiverReceiver

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Sensors Light SensorsMeasures the amount of light that it sees. It outputs a number between 0 (total darkness) and 100 (very bright). The light sensor uses its own light source, a red Light Emitting Diode (LED), to illuminate a small area in front of its receiver. When the light sensor is over the white paper, it reads a value of 50. When it is over the black paper, it reads a value of 13.

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Sensors Light Sensors This consist of a photodiode which allows current through

it exponentially proportional to light absorbed by it exactly like a valve.li y vol

li

y vol

l

i 9 lSeptember 2010 flow


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Sensors Light SensorsLDRs are light dependent resistance Two types of LDR circuits -

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Sens r Interfacing

c pyright Kaushik Ray

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Integrated Circuits

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Integrated Circuits Integrated circuits are used for a variety of devices, including microprocessors, audio and video equipment, and automobiles. Integrated circuits are often classified by the number of transistors and other electronic components they contain:1) SSI (small-scale integration): Up to 100 electronic components per chip 2) MSI (medium-scale integration): From 100 to 3,000 electronic components per chip 3) LSI (large-scale integration): From 3,000 to 100,000 electronic components per chip 4) VLSI (very large-scale integration): From 100,000 to 1,000,000 electronic components per chip 5) ULSI (ultra large-scale integration): More than 1 million electronic components per chip9 September 2010 copyright Kaushik Ray 30

Integrated Circuits

It is also known as IC, microcircuit, microchip, silicon chip, or chip. An integrated circuit is a miniaturized electronic circuit that has been manufactured in the surface of a thin substrate of semiconductor material. They may contain a few hundreds of electronic components to a few millions. Made up of Capacitors, Inductors, Transistors, Resistors, etc.

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Important ICs7805 LM324 LM339 L293D L298 ULN 2003 AT89C51 Voltage Regulator Comparator Comparator H-Bridge H-Bridge Power Drive Microcontroller

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7805

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Comparator

OP AMP implementation of voltage comparator

In electronics, a comparator is a device which compares two voltages or currents and switches its output to indicate which is larger. More generall , the term is also used to re er to a device that compares two items o data.

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Data Sheets Millions of different ICs. Each IC has a specific function. Data sheet contains the specifications of each IC For example: - Pin diagram of the IC showing the various input and output pins and the power supply pins - Range of power supply - Current limitations - Operating Temperature ranges. - Graphs describing the various characteristics.

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Mechanical System

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Mechanical Systemy

The most basic and important part of the robot. It comprises of chassis, motors, wheels and their placement. This system decides the locomotion of the robot.

y

y

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Wheeled Locomotion Systems

y y y y y

Differential drive Car type drive Skid steer drive Synchronous drive Pivot drive

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Differential Drive

y

This is the most commonly used form of locomotion system used in robots as its the simplest and easiest to implement. It has free moving wheel(s) in the front accompanied with a left and right wheel. The two wheels are driven by different motors.

y

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Differential Drive Cont

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Differential Drive: An Analysis

Simplicity and ease of use makes it the most preferred system by beginners y Independent drives makes it difficult for straight line motion. The differences in motors and frictional profile of the two wheels cause them to move with slight turning effect y The above drawback must be countered with appropriate feedback system. Suitable for human controlled remote robotsy

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Car Type DriveIt is characterized by a pair of driving wheels and a separate pair of steering wheels. The translation and rotation are interlinked, hence this system faces severe path planning problem.

y

y

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Car Type Drive Cont

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Skid Steer Drive

A close relative of the differential drive system. y It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots y The left and right wheels are driven independently. y Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground.y

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Skid Steer Drive Cont

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Synchronous Drivey

As the name suggests, it uses synchronous rotation of its wheels to achieve motion & turns It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion The two sets can be directly mechanically coupled as they always move in the same direction with same speed

y

y

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Synchronous Drive Cont

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Pivot Drive

y

The most unique type of Locomotion system It is composed of a four wheeled chassis and a platform that can be raised or lowered

y

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Pivot Drive Conty

The wheels are driven by a motor for translation motion in a straight line For rotation one motor is needed to lower/raise the platform & another to rotate the chassis around the platform This system can guarantee perfect straight line motion as well as accurate in place turns to a desired heading

y

y

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Motors

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MotorsWhy do we need motors Control System Control of mechanical parts Steering of the Robot Controlled movement Pull heavy lodes etc..

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Types of MotorsDC motors :Extensively used, an all purpose one, driven by dc power supply AC motor : not used in robotics, drive by ac power Stepper motor: extensively used in robotics where controlled rotation is required Servo motor: geared dc motor with inbuilt feedback and error compensation and is used to drive heavy loads9 September 2010 copyright Kaushik Ray 53

DC MotorOperate with dc voltage Can run in both direction Speed control

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DC Motor Working

1. Direction of motion is controlled by polarity of voltage or direction of current. 2. Speed is controlled by changing the average power (energy) fed to the DC motor .9 September 2010 copyright Kaushik Ray 55

How H-Bridge works H-

Off

Forward

Reverse

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Speed Control of DC MotorSpeed of a DC motor can be controlled using a method of PWM (Pulls Width Modulation)

100% Dut Cycle9 September 2010 copyright Kaushik Ray 57

Pulse-width modulation uses a square wave whose duty cycle is modulated resulting in the variation of the average value of the waveform. If we consider a square waveform f(t) with a low value ymin, a high value ymax and a duty cycle D , the average value of the waveform is given by:

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How H-Bridge Works H-

This represents traditional PWM motor control Note low average current flow

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H-Bridge: Synchronous Rectification

Use switches instead of diodes Much more efficient, regenerative braking

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H-Bridge Locked-Antiphase LockedPro: one line needed for forward/reverse y Con: higher frequencies neededy

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Locked Antiphasey y y

Voltage swings from +V to V No rectification needed Current ripple twice as large

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H-Bridge ExamplesL293, L298, MC33886, TLE5206, TPIC0108b, etc Simple logic: output = input. Some chips have disables to disconnect all outputs. Advance chips output protection.

Functional Truth Table IN1 L L H H IN2 L H L H OUT1 OUT2 Comments L L H H L H L H Brake; both low transistors on Forward Reverse Brake; both high transistors on.9 September 2010 copyright Kaushik Ray 63

H-Bridge ExamplesLM18200, TLE5205, TPIC0107b, etc.

Functional Truth Table (LM18200) PWM DIR H H L H H L H L X H L X Brake OUT1 OUT2 Comments L L L H H H H L H L L Z L H H L L Z9 September 2010

Forward Reverse High Side BRAKE Low Side Brake Low Side BRAKE Nonecopyright Kaushik Ray 64

H-Bridge/Inductor Demonstration

V = IR

V = V+

V = IR

V=0 (V = -IR)

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Electronic Direction Controly

H Bridge Circuit Diagram

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DC motor continued..DC motors are high speed and low torque devices. Gear is used to decrease the speed and increase the torque. They give smooth movement of shaft. Easy to operate.9 September 2010 copyright Kaushik Ray 67

DC motor driversy y

Drivers are current amplifier circuits. A low current control signal is converted into a proportionally higher current signal that can drive motor.

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Stepper MotorWidely use in Robotics ---why?? Because More precise than DC motor. Measured rotation and can be held at a particular position.

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Stepper motor continued

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Types of StepperMainly two TypesUnipolar the current only flows in one direction in the windings of the coils. i.e. the stator poles can only be polarized one way.

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Continued.Bipolar Bipolar motor, the current flows in both direction in the windings of the coils. i.e. the stator poles can be polarized both way.

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ComparisonUnipolar y

Bipolar

Current flow in one direction Less torque Smooth drive

Current flow in both direction High Torque Not Smooth

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Unipolar Stepper MotorThis kind of motor has four coils . When energized in the correct sequence cause the permanent magnet attached to the shaft to rotate. There are two basic step sequences. After step 4, the sequence is repeated from step 1 again. Reversing the order of the steps in a sequence will reverse the direction of rotation.9 September 2010 copyright Kaushik Ray 74

a. Single-Coil Excitation - Each successive Singlecoil is energized in turn.

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Single coil Excitation

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Single coil excitation continued0010

0001

0100

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b. Two-Coil Excitation - Each successive pair of adjacent Twocoils is energized in turn.

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Double Coil Excitation

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Interleaving the two sequences will cause the motor to half-step half-

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Single and Double coil Excitation

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1000

1100

0100

0110

0010

0011

0001

1001

0100

0011

1001

0010

1000

0110

1100

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ComparisonSingle coilLow

Double coilHigh torque y Consume double energyy

torque Consume less energy

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Circuit Diagram

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ConnectionsData Port1 Motor 1

Data Port2

Motor 2

Note connect a 15v zener diode to pin 10 of IC as shown to prevent damage to the IC due to "back emf" when loads such as motors switch on and off .

copyright IIT Guwahati Robotics Club 9 September 2010 copyright Kaushik Ray

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Digital Logic

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Introduction to Digital Gates and Logic TransistorTransistorLogic (TTL) is a class of digital circuits built from bipolar junction transistors (BJT), and resistors. It is called transistortransistor logic because both the logic gating function (e.g., AND) and the amplifying function are performed by transistors.

A Motorola 68000-based computer with various TTL chips mounted on protoboards9 September 2010 copyright Kaushik Ray 87

Digital Logic LevelAll standardized common TTL circuits operate with a 5 volt power supply. A TTL signal is defined as "low" or L when between 0V and 0.8V with respect to the ground terminal, and "high" or H when between 3V and 5V. Standardization of TTL devices was so successful that it is routine for a complex circuit board to contain chips made by many manufacturers, based on availability and cost rather than interoperability restrictions.

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Truth Tables and Boolean Notationy

Circuits with one inputBufferP = A

A P 0 0 1 1 A P 0 1 1 0

A

P

Not

P =A

A

P

Basic AND / ORy

Circuits with two InputsA 0 0 1 1 B 0 1 0 1 P 0 0 0 1

AND P = A.B

A B

P

OR

P=A+B

A 0 0 1 1

B 0 1 0 1

P 0 1 1 1

A B

P

Basic NAND / NORy

Problems with two InputsA 0 0 1 1 B 0 1 0 1 P 1 1 1 0

NAND

P = A.B

A B

P

NOR

P=A+B

A 0 0 1 1

B 0 1 0 1

P 1 0 0 0

A B

P

Basic XOR / XNORy

Circuits with two Inputs:XOR P =A BA 0 0 1 1 B 0 1 0 1 P 0 1 1 0

A B

P

XNOR P = A B

A 0 0 1 1

B 0 1 0 1

P 1 0 0 1

A B

P

Simple Line Follower

Make your own line follower with Simple Digital gates and Comparator

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Microcontroller

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MicrocontrollerMicrocontrollers are "special purpose computers". A microcontroller (or MCU) is a computer-on-a chip. Microcontrollers are dedicated to one task and run one specific program. Any device that measures, stores, controls, calculates, or displays information is a candidate for putting a microcontroller inside. The microcontroller includes a CPU, RAM, ROM, I/O ports, and timers like a standard computer.

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Microcontroller

A microcontroller is an integrated chip that is often part of an embedded system. They are designed to execute only a single specific task to control a single system, they are much smaller and simplified so that they can include all the functions required on a single chip. The program is stored in ROM (read-only memory) and generally does not change.

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Microcontroller

AT89C519 September 2010 copyright Kaushik Ray 97

Microprocessor

Similar to a Microcontroller. Has only a CPU, no memory storage device or I/O ports, etc. The CPU executes instructions that perform the basic logic, math, and data-moving functions of a computer.

External memory storage device is required.

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copyright IIT Guwahati Robotics Club Kaushik Ray

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A microcontroller differs from a microprocessor, which

is a general-purpose chip .That is used to create a multi-function computer or

device and requires multiple chips to handle various tasks.A microcontroller is meant to be more self-contained

and independent, and functions as a tiny, dedicated computer.9 September 2010 copyright Kaushik Ray 99

Microcontroller

Microcontrollers have become common in many areas,

and can be found in home appliances, computer equipment, and instrumentation. They are often used in automobiles, and have many industrial uses as well, and have become a central part of industrial robotics. Because they are usually used to control a single process and execute simple instructions, microcontrollers do not require significant processing power.

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Microcontrollers are hidden inside a surprising

number of products these days. If your microwave oven has an LED or LCD screen and a keypad, it contains a microcontroller. All modern automobiles contain at least one microcontroller.The engine is controlled by a microcontroller, as are the anti-lock brakes, the cruise control and so on..

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Line FollowerA line follower is a robot capable of tracking a line drawn on a surface y Optical sensors capture the line position at the front end of the robot y The robot is steered to keep it always over the liney

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Optical Reflectors

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Rail Track Inspector

LM324

L298 How to interface sensors, Comparator with microcontroller AT89C51

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Tips for building a robot

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1. Develop the hardware and the software at the same time. Don't try to build a robot and then write software for it.These two domains feedback on each other. Develop them both concurrently, they are really just two different pieces of the same problem.You'll save a lot of frustration and headaches if you write the software as you go. 2. Build robust bump sensors and bumper software first. The robot needs to be able to survive on its bumper behavior alone. All other sensors will eventually depend on the bumper to rescue them from failure modes. A robust collision detection method should not allow the robot to run into anything without sensing it. And there is great peace of mind in the knowledge that the robot won't rip itself apart if you are not watching it all the time! Let the robot run around your living/working space and observe the bumper collision recovery failures. Figure out how to resolve them. A quick look at the robots which run in the DPRG contests will reveal that very few have ever had to survive an encounter with the back end of a rocking-chair. Nice flat walls are not the problem. Find the situations in which the robot's response is not appropriate, where it gets stuck, or scrapes off a sensor, or snags a wire, and see if you can develop a software- hardware solution which does not require human intervention! 3. Run the robot a lot. I have a real temptation when I'm working to change a software or hardware feature, put the robot down on the floor for 30 seconds of evaluation, and then pick it back up for more changes.This is a mistake.These are really "chaotic" systems, greatly dependent on initial conditions and unobservable real-world parameters. Let it run a lot, in different conditions and environments, before determining the effectiveness of a certain behavior or modification. Evaluation should take the lion's share of your development time. It's also the most fun! 4. Document, document, document.Write down what you did, comment your control programs, draw diagrams/schematics/etc and keep them up-to-date, label wires and connectors (especially ones that carry the power supply). In two weeks, you won't remember what changes you made to board A that needs to connect to board B that you haven't had time yet to fix.You won't remember which orientation a connector is supposed to attach.You'll be glad you wrote it down. 9 September 2010 copyright Kaushik Ray 107

5. Use fuses, optical isolators, and/or other forms of protection liberally in your design. A fuse for each power source: battery, DC-DC converter, charger, etc. 6. Be very methodical in your debugging. Check the simplest things first, even twice if you aren't SURE after the first time. Problems always seem to come up at the interfaces -- connectors, sockets, serial protocols, etc. Use a voltmeter to check your connections, even AFTER you physically connect them. 7. Beware of anyone else's pre-canned control code. If you use someone else's stuff, check everything they've done in it against what it should be. No one is perfect, and the code may not do exactly what you assume it will do. 8. Design your drive motor system to carry twice as much weight as you predict your robot will weigh when finished.The margin will disappear quickly with "small", seemingly insignificant additions. 9. Use the techniques and knowledge of others to avoid re-inventing the wheel. E.g.: if you need 68HC11 or 8051 code to control hobby servos, post a request to the club.The same goes for motor control, IR detection, etc. Caveat: beware of pre-canned control code. 10. If you use an oscilloscope, put Ground pins in easy-to-reach places on your circuit boards. 11. I recommend getting an oscilloscope if you don't have one. It will save you time and money in the long run. 12. Give your robot lots of outputs: LEDs, sound, servos, etc. They're great for diagnostic output as well as entertainment. 13. Start with something simple, then add to it. Don't try to build a complex robot without first making sure you can build a simple one that works.Then take baby steps, adding functionality to the simple one. (By the way, "subsumption" is a good control software model to use for this... I believe David took this approach, too. Start with bumper switches, then add infrared, sonar, imaging, etc.)

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14. Unless you have lots of time and money, build your robot modular. If the motor controller is one module, power management another, speech another, etc, it's easier to troubleshoot if you have a standalone module. It also makes it much easier to transfer your technology to your next robot. 15. Don't overlook thrift stores, swap meets, and garage sales as good sources for parts. Many times technology only a few years old will show up at a swap meet for $.05 on the dollar. 16. Develop a system of construction and stick to it. Black wires will always be ground, red wires will always be VCC, white wires will always be motor supply, etc. If you get in the habit of grabbing what ever color wire is handy to build your bot, troubleshooting will be much more difficult. It also makes documentation much easier. 17. Don't be afraid to experiment.That's what fuses are for! 18.Add to your parts bin when the opportunity arises. Unless you live next to the ultimate Robot Parts Store, or plan to special order every gear you need, pick them up when you see them -- taking storage space and spousal tolerances into account, of course! 19. Give your Robot a name. Make it personal. 20. Get datasheets for what you don't understand. Read them, digest them, absorb them.Then go back and read them again until you can explain them to someone else. 21. Share with others what you are doing.Think out loud. Often times in the process of answering questions about your plans, you'll be forced to further define things and polish some of the rough spots. 22. Be proud of what you build. Some people talk, some people build. If you have to pick just one, then build. But doing both is preferred.

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Robotics http://www.electronicsteacher.com/ http://schoolscience.rice.edu/duker/robots/robotwhatis.html Sensors http://www.sensorland.com/HowPage022.html http://www.answers.com/Infrared%20Sensors http://www.barello.net/ARC/projects/LEGO/ http://www.sensorland.com/HowPage022.html Light Sensors http://www-education.rec.ri.cmu.edu/roboticscurriculum/lightsensor.htm http://www-education.rec.ri.cmu.edu/multimedia/rcx.shtml http://www-education.rec.ri.cmu.edu/multimedia/rotationsensore.shtml http://www.doctronics.co.uk/ldr_sensors.html

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Datasheets http://www.datasheetcatalog.com/ Microcontroller http://www.mrrobot.com/ http://en.wikipedia.org/wiki/Microcontroller http://www.answers.com/topic/microcontroller http://computer.howstuffworks.com/microprocessor.htm http://www.knightlight.co.uk/info-microprocessor-information.asp

http://lucy.vub.ac.be/links.htm http://www.ti.com

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Roboticx Presentation Final

Documents

copyright kaushik ray

industrial robots

imagined robots

sophisticated robots

robotics technology

strawberry harvesting

manual robotics

robotics historywhat