Bengkel Asas Pembinaan Robot

1. Universiti Teknologi Malaysia Robot Contest UBOCON ‘02 Bengkel Asas Pembinaan Robot Prepared by Yeong Che Fai

2. Overview • Introduction-Robot? • Line Following Robot • Brain • Sensors • Actuator • Software • Hardware • Video

3. 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

4. Introduction-Robot? • Human • Brain • Legs • Eye • Robot • Controller • Actuators • Sensors

5. Overview Line Following Robot Motors and wheels (Leg) Controller (Brain) Platform (Try to be as interesting possible) Sensors (Eye)

6. Motor and Wheel Line Following Robot Motors and wheels (Leg)

7. Motor and Wheel Motors Wheels Line Following Robot • Motor and wheel (Leg) • Motor • DC Gear Motor Motor and wheel (Leg) Motor and wheel (Leg) • Wheels • Toy Wheels • A portion of PVC ( or any cylindrical) tube wrapped with rubber grip (racquet grip)

8. Motor and Wheel Move to Right Castor Motor Move to Left Moving Forward Moving Backward Wheel Line Following Robot Robot’s Motion

9. Motor and Wheel Line Following Robot • Motor Interfacing • L293B • ULN2803 and Relay • Transistor • etc

10. Motor and Wheel Line Following Robot L293B circuit L293B circuit Vss = Logic Supply  = 4.5V to 36V  Vs = Motor Driver Supply = Vss to 36V

11. Sensors Line Following Robot Motors and wheels (Leg) Controller (Brain) Platform (Try to be as interesting possible) Sensors (Eye)

12. Sensors Line Following Robot Sensors (Eye)

13. Sensors Light source Infra Red Line Following Robot • Sensors (Eye) • Infra red • Light sensor Sensors (Eye) Sensors (Eye)

14. Sensors Castor Emitter Detector Line Wheel Line Following Robot

15. Motor and Wheel Line Following Robot Motors and wheels (Leg) Controller (Brain) Platform (Try to be as interesting possible) Sensors (Eye)

16. Controller Line Following Robot Controller (Brain)

17. Controller Line Following Robot • Controller (Brain) • Hard Wired • Microcontroller, Motorola,Atmel,PIC • Microprocessor • DSP Board • PC based Controller • FPGA

18. 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 Controller- Micro controller Line Following Robot Atmel AT89C2051-24PI

19. Controller- Micro controller 5 V 10uF 19 18 17 16 15 14 13 12 Reset A T M E L A T 8 9 C 2 0 5 1 1 10K ohm 33pF Oscillator 4 12Mhz 5 11 9 8 7 6 3 2 33pF Vcc 20 Gnd 10 Line Following Robot Atmel AT89C2051-24PI P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 • Input • Start button • Stop button • Line Sensors • Output • Motor direction (L293) • Leds • Buzzer P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0

20. Controller- Micro controller Comparator L M 3 2 4 5 V Detector 10uF 19 18 17 16 15 14 13 12 Reset Sensors (Input) A T M E L A T 8 9 C 2 0 5 1 1 Preset 10K ohm 33pF Oscillator Right Motor 4 12Mhz L 2 9 3 B 5 11 9 8 7 6 3 2 Actuator (Output) 33pF Vcc 20 Motor Driver Left Motor Gnd 10 Line Following Robot Atmel AT89C2051-24PI P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0

21. Algorithm Line Following Robot Motors and wheels (Leg) Controller (Brain) How to integrate all the components together ; the controller, actuator and sensors? Platform (Try to be as interesting possible) Sensors (Eye)

22. Algorithm Motors and wheels (Leg) Controller (Brain) Controller (Brain) Motors and wheels (Leg) Controller (Brain) Motors and wheels (Leg) Platform (Try to be as interesting possible) Platform (Try to be as interesting possible) Platform (Try to be as interesting possible) Sensors (Eye) Sensors (Eye) Sensors (Eye) Line Following Robot Algorithm Algorithm ALGORITHM ! ALGORITHM ! ALGORITHM !

23. Algorithm Left or Middle or Right sensor triggered Sensors Algorithm process the Inputs / sensors reading Controller Move direction based on algorithm written Actuators Line Following Robot

24. Algorithm Stop/Error Turn Right Forward Turn Left Stop/Error Line Following Robot Algorithm for 3 line sensors

25. Algorithm End Middle Sensors? Moving Forward Yes Turn Left Error No Right Sensors? Turn Right Yes Yes Left Sensors? No No Line Following Robot Flow chart for 3 line sensors Start

26. Algorithm Line Following Robot Assembly language – Blinking Led $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

27. Line Following Robot . The tiles are expected to have a bit of slack in fit and variation Robots should be designed to handle these discrepancies!!!

28. 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.

29. Appendices

30. Line Following Robot • 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 • TOOLS • Solder • Iron Sucker • Wire cutter • Multi meter • PCB board • Screw driver • Motor Driver • L293B X1 • 1N4002 X8 • 5V regulator • 7805 IC X1 • 0.1uF X2

31. Line Following Robot Tools and Electronic Components HITRECTRONS SDN BHD 25 & 25A, Jalan Sutera 1, Taman Sentosa, 80150 Johor Bahru 013-7750106 Motor and wheel Niko, Angsana Tamiya, Angsana Sim Lim Square, Singapore

32. NOW… Show off your creativity!!! The End