Presentation on theme: "Bengkel Asas Pembinaan Robot"— Presentation transcript:
1 Bengkel Asas Pembinaan Robot Universiti Teknologi Malaysia Robot ContestUBOCON ‘02Bengkel Asas Pembinaan RobotPrepared by Yeong Che Fai
2 Overview Introduction-Robot? Line Following Robot Software Hardware BrainSensorsActuatorSoftwareHardwareVideo
3 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
4 Introduction-Robot? Human Brain Legs Eye Robot Controller Actuators Sensors
5 Line Following Robot Overview Motors and wheels (Leg) Controller (Brain)Platform(Try to be as interesting possible)Sensors (Eye)
6 Motor and WheelLine Following RobotMotors and wheels (Leg)
7 Line Following Robot Motor and Wheel Motor and wheel (Leg) DC Gear MotorMotor and wheel (Leg)Motor and wheel (Leg)MotorsWheelsWheelsToy WheelsA portion of PVC ( or any cylindrical) tube wrapped with rubber grip (racquet grip)
8 Line Following Robot Motor and Wheel Robot’s Motion Move to Left CastorWheelMotorMove toLeftMovingForwardMovingBackwardMove toRight
9 Line Following Robot Motor and Wheel Motor Interfacing L293B ULN2803 and RelayTransistoretc
10 Line Following Robot Motor and Wheel L293B circuit L293B circuit Vss = Logic Supply = 4.5V to 36V Vs = Motor Driver Supply = Vss to 36V
11 Line Following Robot Sensors Motors and wheels (Leg) Controller (Brain)Platform(Try to be as interesting possible)Sensors (Eye)
13 Line Following Robot Sensors Sensors (Eye) Sensors (Eye) Sensors (Eye) Infra RedLight sourceSensors (Eye)Infra redLight sensorSensors (Eye)Sensors (Eye)
14 SensorsLine Following RobotEmitterDetectorCastorLineWheel
15 Line Following Robot Motor and Wheel Motors and wheels (Leg) Controller (Brain)Platform(Try to be as interesting possible)Sensors (Eye)
16 ControllerLine Following RobotController (Brain)
17 Line Following Robot Controller Controller (Brain) Hard Wired Microcontroller, Motorola,Atmel,PICMicroprocessorDSP BoardPC based ControllerFPGA
18 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI 2k FLASH internal program memory128 bytes RAM15 free programmable IO-portUART, 2 timersAnalog 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
19 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI Reset10K ohm10uF5 V1451918171615141312119876322010ATMELCP1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0InputStart buttonStop buttonLine SensorsOutputMotor direction (L293)LedsBuzzerOscillator33pF12MhzP3.7P3.5P3.4P3.3P3.2P3.1P3.0VccGnd
20 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI Reset10K ohm10uF5 VLM324Comparator1451918171615141312119876322010ATMELCSensors(Input)P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0DetectorPresetOscillator33pF12MhzRight MotorP3.7P3.5P3.4P3.3P3.2P3.1P3.0Actuator(Output)L293BMotor DriverVccLeft MotorGnd
21 Line Following Robot Algorithm Motors and wheels (Leg) Controller (Brain)How to integrate all the components together ; the controller, actuator and sensors?Platform(Try to be as interesting possible)Sensors (Eye)
22 Line Following Robot Algorithm Algorithm Algorithm Motors and wheels (Leg)Sensors (Eye)Controller (Brain)Platform(Try to be as interesting possible)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 !
23 Line Following Robot Algorithm SensorsLeft or Middle or Right sensor triggeredControllerAlgorithm process theInputs / sensors readingActuatorsMove direction basedon algorithm written
24 Line Following Robot Algorithm L M R 1 L M R 1 L M R 1 L M R 1 L M R Algorithm for 3 line sensorsLMR1LMR1LMR1LMR1LMRStop/ErrorTurn RightForwardTurn LeftStop/Error
25 Line Following Robot Algorithm Flow chart for 3 line sensors Yes No StartNoErrorEndMiddleSensors?MovingForwardYesTurnLeftYesTurnRightYesRightSensors?NoLeftSensors?No
26 Line Following Robot Algorithm Assembly language – Blinking Led $mod51 org 0hmov p3,# bmov p1,# bagain:jnb p3.0,ps1jnb p3.1,ps2ljmp again ;switch1:mov p1,# b ;Led Blinkingacall delay1mov p1,# bljmp switch1delay1:mov r1,#10l1: mov r2,#255l2: mov r3,#255l3: djnz r3,l3djnz r2,l2djnz r1,l1retswitch2:end
27 Line Following Robot.The tiles are expected to havea bit of slack in fit and variationRobots should be designed to handle these discrepancies!!!
28 This workshop is merely a guideline for students ConclusionThis workshop is merely a guideline for studentsto 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.
31 Line Following Robot Tools and Electronic Components Motor and wheel HITRECTRONS SDN BHD25 & 25A, Jalan Sutera 1,Taman Sentosa,80150 Johor BahruMotor and wheelNiko, AngsanaTamiya, AngsanaSim Lim Square, Singapore
32 Show off your creativity!!! NOW…Show off your creativity!!!The End
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