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

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Presentation on theme: "Bengkel Asas Pembinaan Robot UBOCON 02 Universiti Teknologi Malaysia Robot Contest Prepared by Yeong Che Fai."— Presentation transcript:

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

2 Overview Introduction-Robot? Line Following Robot 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 Motors and wheels (Leg) Sensors (Eye) Controller (Brain) Platform (Try to be as interesting possible) Overview

6 Line Following Robot Motors and wheels (Leg) Motor and Wheel

7 Line Following Robot 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) Motors Wheels Motor and Wheel

8 Line Following Robot Robots Motion Castor Wheel Motor Moving Forward Moving Backward Move to Right Move to Left Motor and Wheel

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

10 Line Following Robot L293B circuit Motor and Wheel V ss = Logic Supply = 4.5V to 36V V s = Motor Driver Supply = V ss to 36V L293B circuit

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

12 Line Following Robot Sensors (Eye) Sensors

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

14 Line Following Robot Emitter Detector Castor Line Wheel Sensors

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

16 Line Following Robot Controller (Brain) Controller

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

18 Line Following Robot Atmel AT89C PI 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

19 Line Following Robot Atmel AT89C PI Controller- Micro controller Reset 10K ohm 10uF 5 V Gnd P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0 Input Start button Stop button Line Sensors Output Motor direction (L293) Leds Buzzer ATMELAT89C2051ATMELAT89C2051 Oscillator 33pF 12Mhz Vcc

20 Line Following Robot Reset 10K ohm 10uF 5 V Gnd P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P ATMELAT89C2051ATMELAT89C2051 Oscillator 33pF 12Mhz Vcc LM324LM324 Comparator Sensors ( Input ) L293BL293B Motor Driver Detector Preset Right Motor Left Motor Actuator ( Output ) Atmel AT89C PI Controller- Micro controller

21 Line Following Robot Motors 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)

22 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 Motors and wheels (Leg) Sensors (Eye) Controller (Brain) Platform (Try to be as interesting possible)

23 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

24 Line Following Robot Algorithm LMR 000 LMR LMR LMR LMR Stop/Error Turn Right Forward Turn Left Stop/Error Algorithm for 3 line sensors

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

26 Line Following Robot Algorithm $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 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

27 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

28 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 whats been presented here.

29 Appendices

30 Line Following Robot TOOLS 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 X ohm X3 LED X3 Motor Driver L293B X1 1N4002 X8 5V regulator 7805 IC X1 0.1uF X2

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

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


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