Introduction to The Field of Robotics

Presentation by : Wali-Ullah farooqui

Mohd Ikhlas Rizvi Mohit Gawande

Anmol Rai

INTRODUCTION .

Robotics is the science and technology of robots, their design, manufacture, and application. Robotics requires a working knowledge of electronics, mechanics and software, and is usually accompanied by a large working knowledge of many subjects.
Combines the sciences of electronics, engineering, mechanics, and software. Robotics is a system integration i.e. achieving a task by an actuated mechanical device, via an intelligent integration of components.

What is

The major functions of bots

Sensing: Vision Touch

Locomotion: Rolling Robots: One-wheeled balancing, Two wheeled balancing. Spherical orb Robot Six wheeled Robot Tracked Robot. Walking techniques Applied: Hopping, Dynamic Balancing, Passive Dynam Flying, Snaking, Swimming, skating, etc are being developed. Manipulation: Mechanical Grippers Vacuum Grippers General Purpose Effectors

What can a bot do???

The Three Laws of Robotics.

The Three Laws of Robotics (often shortened to The Three Laws or Three Laws) are a set of rules devised by the science fiction author Isaac Asimov .The rules were introduced in his 1942 short story "Runaround. The Three Laws are: 1. A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Laws.

The Three Laws of

What is a Microcontroller.
The best way to explain what a microcontroller is, is to start with your computer. Programs are stored on the hard disk and run on the CPU, with temporary data stored in RAM. The Microcontroller has components, too. It has a CPU, some flash storage, some RAM and some EEPROM, all in one little chip!. The CPU is just like the one in a computer, but its much simpler and not nearly as fast. The flash storage is just like the flash storage in your mp3 player or digital camera card, except its used to store programs. Its kinda like the hard disk of the microcontroller, except you can only read from it.

What is a

What is a Microcontroller.
The EEPROM is kinda like flash except you cant run a program from it, but its used as long term storage. The EEPROM doesnt get erased when the chip loses power. Most computers have a 32-bit CPU running at 1GHz, with 1GB of RAM and 100 GB of storage. The kinds of microcontrollers discussed here run at 10MHz, have 1KB of RAM and 10KB of storage. (On the order of) However, their small size, lower power consumption and low cost make them an excellent choice for many projects!

What is a

How to do something ???

OK so now that its clear what microcontrollers do, how do you get it to do something? Well first off you have to write a program (or have someone write one) that tells the chip what to do. Then you have to compile it, that is, turn the program description into machine code. Next you program the chip using a programmer, which will trasfer the machine code to the device Test, debug, repeat!

What is a

Difference b/w Microcontroller and Microprocessor..!!!

One of the main differences is that microcontrollers are usually designed to perform a small set of specific functions, for example as in the case of a Digital Signal Processor which performs a small set of signal processing functions, whereas microprocessors tend to be designed to perform a wider set of general purpose functions. For example, microcontrollers are widely used in modern cars where they will each perform a dedicated task, i.e. a microcontroller to regulate the brakes on all four wheels, or a microcontroller to regulate the car air conditioning, or a microcontroller responsible for the cruise control. These microcontrollers will perform few other tasks (if any) other than those specified. Compare this on the other hand to a microprocessor in a PC which performs a wide range of tasks related to the general requirements of a PC, i.e. performing the necessary calculations for a very wide set of software applications, performing I/O for the main sub-systems, peripheral control etc.

Microcontroller and

Atmel Atmega8

INFRARED SENSOR

Consists of two components: Emitter and Receiver. Emitter transmits the infrared light and Receiver

receives the reflected light.

Based on the ratio of transmission and reception

signals are generated.

Infrared Sensors can detect sensors as well as detect motion.

INFRARED SENSOR (CONTI)

Use an IR LED as a sensor. LED produce a voltage difference across its leads when it is subjected to light.

INFRARED SENSOR

PASSIVE INFRARED SENSOR

PIR only measures Infrared Radiation, does not emit. All objects emit some form of thermal radiation. The receiver is composed of more than one individual sensor, each of them being made from pyroelectric materials. The sensor detects an increase in the heat of a small part of its field of view.

PIR (CONTI..)

Most motion detectors are fitted with Fresnel lens. It will detect any sudden change in one area of the field of view.

ILLUSTRATION OF A BASIC LINE FOLLOWER ROBOT

LINE FOLLOWER ROBOT

Composed of four elements Sensors Comparator Micro Controller Atmega16 Motor Driver

ALTHORITHM
Li are sensors on the left. Ri are sensors on Right. Li & Ri = 0, if sensor is on the line and 1 if off the line. L and R are number of sensors on the line respectively.

If L< R, Move Right L>R, Move Left L=R, Move Fwd.

 L1=1; R1=0; L=0; R=1; L<R

Move Right

 L1=0; R1=1; L=1; R=0; L>R

Move Left

OVERVIEW OF CONSTRUCTION

IC L293D

IC L293D

CIRCUIT DIAGRAM OF L293D

Works in Active high mode

This IC is compressed of 2 (Dual) H-Bridges.

H bridge acts as switch to control direction of

rotation of a motor.
This L293D have 2 H-Bridges, so it can control

two motors simultaneously.

H-BRIDGE

It is the simplest structure of Hbridge.

FUNCTIONS OF L293D

Motor driver Acts as current amplifier for the motor

IC 7805

IC 7805
IC 7805 is a member of IC 78xx group. It converts input up to 12 V into 5 V. This IC is used as voltage regulator, depending upon the mode of IC being used.
IC 7805 can operate on two mode.

Two modes are:

Program for Line follower

#include <avr/io.h> #include <adclib.h> void main() { adc_init(); DDRC =0b11111111; PORTC =0b01010000; while(1) { if(read_adc(0)<800) { PORTC=0b10010000; } else if(read_adc(1)<800) { PORTC=0b01100000; } }