Building robot in a simple way
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Building Robot In A Simple Way Case study: Robot Colony Sunarto Quek Ngee Ann Polytechnic Content Technology domains in solving robotic problems Case study: Robot Colony Collecting pellets Differentiating pellets Searching pellets Locating disposing area Conclusion Q&A

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Building Robot In A Simple Way

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Building robot in a simple way l.jpg
Building Robot In A Simple Way

Case study:

Robot Colony

Sunarto Quek

Ngee Ann Polytechnic


Content l.jpg
Content

  • Technology domains in solving robotic problems

  • Case study: Robot Colony

    • Collecting pellets

    • Differentiating pellets

    • Searching pellets

    • Locating disposing area

  • Conclusion

  • Q&A

Sunarto Quek, Ngee Ann Polytechnic


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Technology Domains

  • Robotic problems

    • Can be solved at different technology domains

  • Example

    • To align an object for grabbing

      • Mechanical domain – use mechanical guide

      • Electronic domain – use sensors

      • Computation domain – use vision

  • Lower vs Higher domain

    • Lower (mechanical) is simpler but less flexibility

Sunarto Quek, Ngee Ann Polytechnic


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Case Study: Robot Colony

  • Objective

    • To collect pellets of two different colours and dispose them at their designated place

  • Tasks

    • To search pellets

    • To collect pellets

    • To differentiate pellets

    • To locate disposing area and dispose the collected pellets

Sunarto Quek, Ngee Ann Polytechnic


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Collect Pellet

  • Subtask 1

    • To align gripper with pellet

  • Solution

    • Use mechanical guide

  • Use vision?

    • May not be accurate due to:

      • Uneven colour of a pellet

      • Uneven surrounding light and shadow

      • Several pellets lump together

Sunarto Quek, Ngee Ann Polytechnic


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Collect Pellet …

  • Subtask 2

    • To hold pellet

  • Solution

    • Use mechanical gate

  • Use motors?

    • Could be better but extra cost, programming and circuitry

Sunarto Quek, Ngee Ann Polytechnic


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Differentiate Pellet

  • Use vision or colour detector?

    • Expensive and may not be accurate due to shadowing and uneven colour and lighting

  • Use simple infrared sensor

    • Notice that blue pellets are much brighter than green pellets

    • Differentiate by reflected intensity

Sunarto Quek, Ngee Ann Polytechnic


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Search

  • Subtask 1

    • To detect nearby pellets

  • Solution

    • Two infrared sensors, each looks on the left and right side of the robot

    • Front sensors not needed as pellet in front will be collected as the robot move forward

  • Vision?

    • Better but must take care of lighting problem

Sunarto Quek, Ngee Ann Polytechnic


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Search …

  • Subtask 2

    • Cover unexplored area

  • Solution

    • Go to centre and circle out

    • Continue from last position after disposing pellet

  • Mapping the arena?

    • Need accurate localization

    • But not many good landmark

Sunarto Quek, Ngee Ann Polytechnic


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Locate Disposing Area

  • Subtask

    • To find robot’s orientation

  • Solution

    • Ensure each turning is about 90 deg

    • Remember the orientation

    • Error can be corrected by aligning sensors to line

  • Compass?

    • Better, but must take care of surrounding magnetic field

Sunarto Quek, Ngee Ann Polytechnic


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Locate Disposing area …

  • Once orientation is found

    • Robot is at the border

    • Turn 90 deg and move until the outer front base sensor detect lines

    • Disposing area is then located

Sunarto Quek, Ngee Ann Polytechnic


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Conclusion

  • A simple robot colony was built

    • No motor required for collecting pellet

    • Simple IR sensor to differentiate pellets

    • Strategic sensor placement to maximize pellets searching

  • Robot can be built in a simple way

    • By looking for solutions at lower technology domain

Sunarto Quek, Ngee Ann Polytechnic


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