// This is a simple control program Move forward 200 units Turn right 90 Move forward 100 units Turn right 45 Move forward 100 Turn right 45 Move forward 100 A control program is written to operate the mobile robot This will be translated into the digital binary language of the computer system This is a control language

// This is a simple control program Move forward 200 units Turn right 90 Move forward 100 units Turn right 45 Move forward 100 Turn right 45 Move forward 100 Watch the robot follow the instructions of the program Move forward 200 units Move forward 100 Turn right 90 Move forward 100 Turn right 45

The robot will be following lines either i)ON the floor using optical sensors ii)UNDER the floor using magnetic sensors

The mobile robot body

The analogue signals of the outside world The digital signals of the computer Analogue Digital Converter A/D convertor

The low level program gets burnt into the ROM of the MICROPROCESSOR The microprocessor is an example of EMBEDDED technology – the chip is embedded in the machine, it is not separate

End Effector (Gives adaptability) Degrees of freedom 10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Control Program (to run the robot) Stored in ROM

10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Control Program (to run the robot) Stored in ROM Translated into machine cod A system which has its software built into a micro processor is an example of embedded technology

Digital signals - pulses Analogue signals - continuous The analogue signals of the real world have to be changed into digital signals of the computers world

10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Different ways to program machines 1 2 3