Bengkel Asas Pembinaan Robot

UBOCON ‘02UBOCON ‘02Universiti Teknologi Malaysia Robot Contest

Prepared by Yeong Che Fai

OverviewIntroduction-Robot?Line Following Robot

BrainSensorsActuator

SoftwareHardwareVideo

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

Introduction-Robot?

Human

•Brain

•Legs

•Eye

Robot

•Controller

•Actuators

•Sensors

Line Following RobotMotors and wheels (Leg)

Sensors (Eye)

Controller (Brain)

Platform(Try to be as interesting possible)

Overview

Line Following RobotMotors and wheels (Leg)

Motor and Wheel

Line Following Robot

Motor and wheel (Leg)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)

MotorsWheels

Motor and Wheel

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Robot’s Motion

Castor

Wheel

Motor

Moving ForwardMoving

BackwardMove to

RightMove to

Left

Motor and Wheel

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Motor Interfacing

•L293B

•ULN2803 and Relay

•Transistor

•etc

Motor and Wheel

Line Following RobotL293B circuit

Motor and Wheel

Vss = Logic Supply  = 4.5V to 36V 

Vs = Motor Driver Supply = Vss to 36V

L293B circuit

Line Following RobotMotors and wheels (Leg)

Sensors (Eye)

Controller (Brain)

Platform(Try to be as interesting possible)

Sensors

Line Following Robot

Sensors (Eye)

Sensors

Infra RedLight source

Line Following Robot

Sensors (Eye)

Sensors (Eye)

Sensors (Eye)

•Infra red

•Light sensor

Sensors

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Emitter

Detector

Castor

Line Wheel

Sensors

Line Following RobotMotors and wheels (Leg)

Sensors (Eye)

Controller (Brain)

Platform(Try to be as interesting possible)

Motor and Wheel

Line Following Robot

Controller (Brain)

Controller

Line Following RobotController (Brain)

•Hard Wired

•Microcontroller, Motorola,Atmel,PIC

•Microprocessor

•DSP Board

•PC based Controller

•FPGA

Controller

Line Following RobotAtmel AT89C2051-24PI

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

Line Following RobotAtmel AT89C2051-24PI

Controller- Micro controller

Reset

10K ohm

10uF5 V

Gnd

P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0

P3.7P3.5P3.4P3.3P3.2P3.1P3.0

Input • Start button• Stop button• Line Sensors

Output• Motor direction (L293)• Leds• Buzzer

1

4

5

1918171615141312

11987632

20

10

ATMEL

AT89C2051

Oscillator33pF

33pF

12Mhz

Vcc

Line Following Robot

Reset

10K ohm

10uF5 V

Gnd

P1.7P1.6P1.5P1.4P1.3P1.2P1.1P1.0

P3.7P3.5P3.4P3.3P3.2P3.1P3.0

1

4

5

1918171615141312

11987632

20

10

ATMEL

AT89C2051

Oscillator33pF

33pF

12Mhz

Vcc

LM324

Comparator

Sensors(Input)

L293B

Motor Driver

Detector

Preset

Right Motor

Left Motor

Actuator(Output)

Atmel AT89C2051-24PI

Controller- Micro controller

Line Following RobotMotors 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)

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 !

Algorithm

Algorithm

Motors and wheels (Leg)

Sensors (Eye)

Controller (Brain)

Platform(Try to be as interesting possible)

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Sensors Left or Middle or Right sensor triggered

Controller Algorithm process the Inputs / sensors reading

Actuators Move direction based on algorithm written

Algorithm

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Algorithm

L M R

0 0 0

L M R

0 0 0

0 0 1

L M R

0 0 0

0 0 1

0 1 0

L M R

0 0 0

0 0 1

0 1 0

1 0 0

L M R

0 0 0

0 0 1

0 1 0

0 0 0

Stop/Error

Turn Right

Forward

Turn Left

Stop/Error

Algorithm for 3 line sensors

Line Following Robot

Algorithm

Flow chart for 3 line sensors

Start

Middle Sensors?

Turn Left

YesRight

Sensors?

No

LeftSensors?

No

No

Error

End

Turn RightYes

Moving ForwardYes

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Algorithm

$mod51

org 0h

mov p3,#11111111b

mov p1,#00000000b

again:

jnb p3.0,ps1

jnb p3.1,ps2

ljmp again ;

switch1:

mov p1,#11111111b ;Led Blinking

acall delay1

mov p1,#00000000b

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

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

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.

Appendices

Line Following RobotTOOLS

•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 X3•180-220 ohm X3•LED X3

•Motor Driver•L293B X1•1N4002 X8

•5V regulator•7805 IC X1•0.1uF X2

HITRECTRONS SDN BHD25 & 25A, Jalan Sutera 1,

Taman Sentosa,80150 Johor Bahru

013-7750106

Line Following RobotTools and Electronic Components

Motor and wheel

Niko, Angsana

Tamiya, Angsana

Sim Lim Square, Singapore

The End

NOW…Show off your creativity!!!