bengkel asas pembinaan robot ubocon 02 universiti teknologi malaysia robot contest prepared by yeong...
TRANSCRIPT
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Bengkel Asas Pembinaan Robot
UBOCON ‘02UBOCON ‘02Universiti Teknologi Malaysia Robot Contest
Prepared by Yeong Che Fai
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OverviewIntroduction-Robot?Line Following Robot
BrainSensorsActuator
SoftwareHardwareVideo
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Introduction-Robot?
A machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposive manner
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Introduction-Robot?
Human
•Brain
•Legs
•Eye
Robot
•Controller
•Actuators
•Sensors
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Line Following RobotMotors and wheels (Leg)
Sensors (Eye)
Controller (Brain)
Platform(Try to be as interesting possible)
Overview
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Line Following RobotMotors and wheels (Leg)
Motor and Wheel
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Line Following Robot
Motor and wheel (Leg)Motor and wheel (Leg)
•Motor
•DC Gear Motor
Motor and wheel (Leg)
•Wheels
•Toy Wheels
•A portion of PVC ( or any cylindrical) tube wrapped with rubber grip (racquet grip)
MotorsWheels
Motor and Wheel
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Line Following Robot
Robot’s Motion
Castor
Wheel
Motor
Moving ForwardMoving
BackwardMove to
RightMove to
Left
Motor and Wheel
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Line Following Robot
Motor Interfacing
•L293B
•ULN2803 and Relay
•Transistor
•etc
Motor and Wheel
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Line Following RobotL293B circuit
Motor and Wheel
Vss = Logic Supply = 4.5V to 36V
Vs = Motor Driver Supply = Vss to 36V
L293B circuit
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Line Following RobotMotors and wheels (Leg)
Sensors (Eye)
Controller (Brain)
Platform(Try to be as interesting possible)
Sensors
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Line Following Robot
Sensors (Eye)
Sensors
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Infra RedLight source
Line Following Robot
Sensors (Eye)
Sensors (Eye)
Sensors (Eye)
•Infra red
•Light sensor
Sensors
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Line Following Robot
Emitter
Detector
Castor
Line Wheel
Sensors
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Line Following RobotMotors and wheels (Leg)
Sensors (Eye)
Controller (Brain)
Platform(Try to be as interesting possible)
Motor and Wheel
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Line Following Robot
Controller (Brain)
Controller
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Line Following RobotController (Brain)
•Hard Wired
•Microcontroller, Motorola,Atmel,PIC
•Microprocessor
•DSP Board
•PC based Controller
•FPGA
Controller
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Line Following RobotAtmel AT89C2051-24PI
Controller- Micro controller
•2k FLASH internal program memory •128 bytes RAM •15 free programmable IO-port •UART, 2 timers •Analog comparator. P1.0 and P1.1 serve as inputs for comparator; the externally port 3.6 not available serves as output for the comparator.
•Assembly Language
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Line Following RobotAtmel AT89C2051-24PI
Controller- Micro controller
Reset
10K ohm
10uF5 V
Gnd
P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0
P3.7P3.5P3.4P3.3P3.2P3.1P3.0
Input • Start button• Stop button• Line Sensors
Output• Motor direction (L293)• Leds• Buzzer
1
4
5
1918171615141312
11987632
20
10
ATMEL
AT89C2051
Oscillator33pF
33pF
12Mhz
Vcc
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Line Following Robot
Reset
10K ohm
10uF5 V
Gnd
P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0
P3.7P3.5P3.4P3.3P3.2P3.1P3.0
1
4
5
1918171615141312
11987632
20
10
ATMEL
AT89C2051
Oscillator33pF
33pF
12Mhz
Vcc
LM324
Comparator
Sensors(Input)
L293B
Motor Driver
Detector
Preset
Right Motor
Left Motor
Actuator(Output)
Atmel AT89C2051-24PI
Controller- Micro controller
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Line Following RobotMotors and wheels (Leg)
Sensors (Eye)
Controller (Brain)
Algorithm
How to integrate all the components together ; the controller, actuator and sensors?
Platform(Try to be as interesting possible)
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Line Following Robot
Algorithm
Controller (Brain) Motors and wheels (Leg)
Sensors (Eye)
Platform(Try to be as interesting possible)
ALGORITHM !
Controller (Brain) Motors and wheels (Leg)
Sensors (Eye)
Platform(Try to be as interesting possible)
ALGORITHM !
ALGORITHM !
Algorithm
Algorithm
Motors and wheels (Leg)
Sensors (Eye)
Controller (Brain)
Platform(Try to be as interesting possible)
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Line Following Robot
Sensors Left or Middle or Right sensor triggered
Controller Algorithm process the Inputs / sensors reading
Actuators Move direction based on algorithm written
Algorithm
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Line Following Robot
Algorithm
L M R
0 0 0
L M R
0 0 0
0 0 1
L M R
0 0 0
0 0 1
0 1 0
L M R
0 0 0
0 0 1
0 1 0
1 0 0
L M R
0 0 0
0 0 1
0 1 0
0 0 0
Stop/Error
Turn Right
Forward
Turn Left
Stop/Error
Algorithm for 3 line sensors
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Line Following Robot
Algorithm
Flow chart for 3 line sensors
Start
Middle Sensors?
Turn Left
YesRight
Sensors?
No
LeftSensors?
No
No
Error
End
Turn RightYes
Moving ForwardYes
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Line Following Robot
Algorithm
$mod51
org 0h
mov p3,#11111111b
mov p1,#00000000b
again:
jnb p3.0,ps1
jnb p3.1,ps2
ljmp again ;
switch1:
mov p1,#11111111b ;Led Blinking
acall delay1
mov p1,#00000000b
acall delay1
ljmp switch1
delay1:
mov r1,#10
l1: mov r2,#255
l2: mov r3,#255
l3: djnz r3,l3
djnz r2,l2
djnz r1,l1
ret
switch2:
end
Assembly language – Blinking Led
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The tiles are expected to have a bit of slack in fit and variation
.
Robots should be designed to handle these discrepancies!!!
Line Following Robot
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Conclusion
This workshop is merely a guideline for students to start off their project, especially those with no
prior knowledge in robotics.
However, students are strongly encouraged to be creative and innovative, and improve on what’s
been presented here.
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Appendices
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Line Following RobotTOOLS
•Solder•Iron Sucker•Wire cutter•Multi meter•PCB board•Screw driver
COMPONENTS•Microcontroller
•Atmel 89C2051 X1•33pF X2•12Mhz X1•Reset button X1•10k Ohm X1•10uF X1 •330 Ohm X1•Led X1
•Line Sensor•Transmitter (IR) X3•Receiver (IR) X3•LM324 X1•10K preset X3•180-220 ohm X3•LED X3
•Motor Driver•L293B X1•1N4002 X8
•5V regulator•7805 IC X1•0.1uF X2
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HITRECTRONS SDN BHD25 & 25A, Jalan Sutera 1,
Taman Sentosa,80150 Johor Bahru
013-7750106
Line Following RobotTools and Electronic Components
Motor and wheel
Niko, Angsana
Tamiya, Angsana
Sim Lim Square, Singapore
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The End
NOW…Show off your creativity!!!