ENGR 100 - Robotics Project

What is a Robot? A Electro-Mechanical system Plus Artificial intelligence Can do certain tasks that human like Robot Arm Honda Asimo Robot Fish Robot Vacuum

Basic Component of Robot Artificial Intelligence(software) Learning (Neuron network training) Motion control(output) Information analysis(input) Physical Part(Hardware) Leg, Hand, Head spine http://www.youtube.com/watch?v=Q3C5sc8b3xM http://www.youtube.com/watch?v=9vRg64HX5gA http://www.youtube.com/watch?v=eO9oseiCTdk

Project Objectives The goals of this project are to: Basic computer programming. Experience the design process. Build a programmable robot.

Tasks Three different tasks: Robotic Wheelchair, Car, The defender. Three different programs: Program 1 - Robotic Wheelchair (do first!) Program 2 - Car Program 3 – Dog/Cat. The defender (be creative!)

Arena Layout 4 ft 1 ft 1ft 2 ft 68” 8 ft 8 1/3 ft Defender Free Zone

This is the competition!

Scoring for performance grading 10 pts 10 pts 10 pts 10 pts 10 pts Base Pts – At some point before competition day, each team’s robot must complete the entire course. Additional points each round - 20 pts for Wheel chair car, 20 pts for Car, and 20 pts for Defender.(build by NQC or your own sensor)

Project flow Know the project goals/requirements. Learn RCX programming/Gather ideas for robot design. Build a pathfinder. Test run. Final competition.

Rules (see handout for complete listing) Robotic wheelchairs cannot be touched once competition has started. Malfunctioning defenders and cars will be removed from the course. Max robot dimensions at start of competition - 1 ft x 1 ft x 1 ft Wheelchairs and cars sending messages will be disqualified. Defenders not limited.

Robot Basics -RCX Command Brick 3 output 3input 5 programe

Robot Basics - Sensors & Motors Input/Output Ports Touch sensors Light sensor Motors RCX signals Tips - Use view mode to check light sensor. Battery power affects speed of motors. Batteries run out fast! Don’t block infrared sensor.

Robot basics – Programming No matter what language you use, there are 3 basic control structures for organizing the programming commands: Sequential Repetition (Loops) Conditional

Sequential Sequential statements are defined as a list of commands that are executed in order. For example: Set Forward Direction Go forward for 3 s Stop

Repetition For example: Repetition statements allow for a series of commands to be repeated for a set number times. For example: Repeat 3 times Set forward direction Move forward for 3 s Stop End Repeat

Conditional Conditional statements allow for two (or more) different sets of commands to be executed depending on a condition. For example, If certain conditions are true - one set of commands will be execute. Else if any (or all) are false - another set of commands will be executed.

Example of Conditional Statements For example - If the light is <50% Set Direction Forward Move Forward for 3 s Stop Else If light is >= 50% End

Exercise 3 types of control structures Sequential, Repetition, Conditional Which one above would work best for the following situations - Robotic wheelchair executes a left turn. Robot wheelchair backs up if it hits the wall. Car moves back and forth across crosswalk.

Programming Environment (Robotics Invention System 2.0 ) Graphical language High level Drag in desired function Upload the program to RCX by IR signal IR Com. RCX

Features of RCX software Multi-threaded language Different parts of the program execute at the same time. Loops in main program interfere with subprogram. Variables limited to 1 or 0 Use counter as variable. Not Quite C (NQC) language allows for more variables.

Programming Environment (Not Quite C ) C based program Allows more variable Command list is provided Text coding

What are we going to do today? Build your robot. inventory Plan your project. Share your work Learn how to build a robot and communicate with it~

Gear Transmission device Angular velocity is the same the bigger wheel will run faster Smaller wheel will run slower The torque and power from the motor is the constant Smaller wheel will have higher surface force Tongue=10 R1=10 R2=1 F2=? F1=1 F1*R1=Tongue

Gear 5 10 W1=10 5*10=10*W2 W6 W5 5 10 1*10=5*W4 W4=? W4=W5? No Slip condition The tangential velocity is a constant W*R is a constant W=angular velocity R=radius W6 W5 5 10 1*10=5*W4 W4=? W4=W5? W5*10=W6*5 W6=? W3=1 W4