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Bengkel Asas Pembinaan Robot

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Presentation on theme: "Bengkel Asas Pembinaan Robot"— Presentation transcript:

1 Bengkel Asas Pembinaan Robot
Universiti Teknologi Malaysia Robot Contest UBOCON ‘02 Bengkel Asas Pembinaan Robot Prepared by Yeong Che Fai

2 Overview Introduction-Robot? Line Following Robot Software Hardware
Brain Sensors Actuator Software Hardware Video

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 Wheel Line Following Robot Motors and wheels (Leg)

7 Line Following Robot Motor and Wheel Motor and wheel (Leg)
DC Gear Motor Motor and wheel (Leg) Motor and wheel (Leg) Motors Wheels Wheels Toy Wheels A 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
Castor Wheel Motor Move to Left Moving Forward Moving Backward Move to Right

9 Line Following Robot Motor and Wheel Motor Interfacing L293B
ULN2803 and Relay Transistor etc

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)

12 Sensors Line Following Robot Sensors (Eye)

13 Line Following Robot Sensors Sensors (Eye) Sensors (Eye) Sensors (Eye)
Infra Red Light source Sensors (Eye) Infra red Light sensor Sensors (Eye) Sensors (Eye)

14 Sensors Line Following Robot Emitter Detector Castor Line Wheel

15 Line Following Robot Motor and Wheel Motors and wheels (Leg)
Controller (Brain) Platform (Try to be as interesting possible) Sensors (Eye)

16 Controller Line Following Robot Controller (Brain)

17 Line Following Robot Controller Controller (Brain) Hard Wired
Microcontroller, Motorola,Atmel,PIC Microprocessor DSP Board PC based Controller FPGA

18 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI
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

19 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI
Reset 10K ohm 10uF 5 V 1 4 5 19 18 17 16 15 14 13 12 11 9 8 7 6 3 2 20 10 A T M E L C P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 Input Start button Stop button Line Sensors Output Motor direction (L293) Leds Buzzer Oscillator 33pF 12Mhz P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0 Vcc Gnd

20 Line Following Robot Controller- Micro controller Atmel AT89C2051-24PI
Reset 10K ohm 10uF 5 V L M 3 2 4 Comparator 1 4 5 19 18 17 16 15 14 13 12 11 9 8 7 6 3 2 20 10 A T M E L C Sensors (Input) P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 Detector Preset Oscillator 33pF 12Mhz Right Motor P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0 Actuator (Output) L 2 9 3 B Motor Driver Vcc Left Motor Gnd

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
Sensors Left or Middle or Right sensor triggered Controller Algorithm process the Inputs / sensors reading Actuators Move direction based on 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 sensors L M R 1 L M R 1 L M R 1 L M R 1 L M R Stop/Error Turn Right Forward Turn Left Stop/Error

25 Line Following Robot Algorithm Flow chart for 3 line sensors Yes No
Start No Error End Middle Sensors? Moving Forward Yes Turn Left Yes Turn Right Yes Right Sensors? No Left Sensors? No

26 Line Following Robot Algorithm Assembly language – Blinking Led $mod51
org 0h mov p3,# b mov p1,# b again: jnb p3.0,ps1 jnb p3.1,ps2 ljmp again ; switch1: mov p1,# b ;Led Blinking acall delay1 mov p1,# b 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

27 Line Following Robot . The tiles are expected to have a bit of slack in fit and variation Robots should be designed to handle these discrepancies!!!

28 This workshop is merely a guideline for students
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.

29 Appendices

30 Line Following Robot 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 ohm X3 LED X3 TOOLS Solder Iron Sucker Wire cutter Multi meter PCB board Screw driver Motor Driver L293B X1 1N4002 X8 5V regulator 7805 IC X1 0.1uF X2

31 Line Following Robot Tools and Electronic Components Motor and wheel
HITRECTRONS SDN BHD 25 & 25A, Jalan Sutera 1, Taman Sentosa, 80150 Johor Bahru Motor and wheel Niko, Angsana Tamiya, Angsana Sim Lim Square, Singapore

32 Show off your creativity!!!
NOW… Show off your creativity!!! The End


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