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ENGR 100 - Robotics Project What is a Robot? A Electro-Mechanical system Plus Artificial intelligence Can do certain tasks that human like Robot Arm Honda Asimo Robot Fish Robot Vacuum Basic Component of Robot Artificial Intelligence(software) Learning (Neuron network training)

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what is a robot
What is a Robot?
  • A Electro-Mechanical system Plus Artificial intelligence
  • Can do certain tasks that human like

Robot Arm

Honda Asimo

Robot Fish

Robot Vacuum

basic component of robot
Basic Component of Robot
  • Artificial Intelligence(software)
    • Learning (Neuron network training)
    • Motion control(output)
    • Information analysis(input)
  • Physical Part(Hardware)
    • Leg, Hand, Head
    • spine

http://www.youtube.com/watch?v=Q3C5sc8b3xM

http://www.youtube.com/watch?v=9vRg64HX5gA

http://www.youtube.com/watch?v=eO9oseiCTdk

project objectives
Project Objectives

The goals of this project are to:

  • Basic computer programming.
  • Experience the design process.
  • Build a programmable robot.
tasks
Three different tasks:

Robotic Wheelchair, Car, The defender.

Three different programs:

Program 1 - Robotic Wheelchair (do first!)

Program 2 - Car

Program 3 – Dog/Cat. The defender (be creative!)

Tasks
arena layout

8 ft

1 ft

1ft

4 ft

8 1/3 ft

68”

4 ft

Defender Free Zone

2 ft

Arena Layout
scoring for performance grading
Scoring for performance grading

10 pts

10 pts

10 pts

10 pts

10 pts

Base Pts – At some point before competition day, each team’s robot must complete the entire course.

Additional points each round - 20 pts for Wheel chair car, 20 pts for Car, and 20 pts for Defender.(build by NQC or your own sensor)

project flow
Project flow
  • Know the project goals/requirements.
  • Learn RCXprogramming/Gather ideas for robot design.
  • Build a pathfinder.
  • Test run.
  • Final competition.
rules see handout for complete listing
Rules (see handout for complete listing)
  • Robotic wheelchairs cannot be touched once competition has started.
  • Malfunctioning defenders and cars will be removed from the course.
  • Max robot dimensions at start of competition - 1 ft x 1 ft x 1 ft
  • Wheelchairs and cars sending messages will be disqualified. Defenders not limited.
robot basics rcx
Robot Basics -RCX
  • Command Brick
  • 3 output
  • 3input
  • 5 programe
robot basics sensors motors
Robot Basics - Sensors & Motors
  • Input/Output Ports
  • Touch sensors
  • Light sensor
  • Motors
  • RCX signals

Tips -

Use view mode to check light sensor. Battery power affects speed of motors. Batteries run out fast! Don’t block infrared sensor.

robot basics programming
Robot basics – Programming

No matter what language you use, there are 3 basic control structures for organizing the programming commands:

  • Sequential
  • Repetition (Loops)
  • Conditional
sequential
Sequential
  • Sequential statements are defined as a list of commands that are executed in order.
  • For example:

Set Forward Direction

Go forward for 3 s

Stop

repetition
Repetition
  • Repetition statements allow for a series of commands to be repeated for a set number times.
  • For example:

Repeat 3 times

Set forward direction

Move forward for 3 s

Stop

End Repeat

conditional
Conditional
  • Conditional statements allow for two (or more) different sets of commands to be executed depending on a condition.
  • For example,
    • If certain conditions are true - one set of commands will be execute.
    • Else if any (or all) are false - another set of commands will be executed.
example of conditional statements
Example of Conditional Statements
  • For example -
    • If the light is <50%

Set Direction Forward

Move Forward for 3 s

Stop

    • Else If light is >= 50%

Stop

    • End
exercise
Exercise
  • 3 types of control structures
    • Sequential, Repetition, Conditional
  • Which one above would work best for the following situations -
    • Robotic wheelchair executes a left turn.
    • Robot wheelchair backs up if it hits the wall.
    • Car moves back and forth across crosswalk.
programming environment robotics invention system 2 0
Programming Environment(Robotics Invention System 2.0 )
  • Graphical language
  • High level
  • Drag in desired function
  • Upload the program to RCX by IR signal

IR Com.

RCX

features of rcx software
Features of RCX software
  • Multi-threaded language
    • Different parts of the program execute at the same time.
    • Loops in main program interfere with subprogram.
  • Variables limited to 1 or 0
    • Use counter as variable.
    • Not Quite C (NQC) language allows for more variables.
programming environment not quite c
Programming Environment(Not Quite C )
  • C based program
  • Allows more variable
  • Command list is provided
  • Text coding
what are we going to do today
What are we going to do today?
  • Build your robot.
    • inventory
  • Plan your project.
    • Share your work
  • Learn how to build a robot and communicate with it~
gear transmission device
GearTransmission device
  • Angular velocity is the same
  • thebiggerwheelwillrunfaster
  • Smallerwheelwillrunslower
  • Thetorqueandpowerfromthemotoristheconstant
  • Smallerwheelwillhavehighersurfaceforce

Tongue=10

R1=10

R2=1

F2=?

F1=1

F1*R1=Tongue

slide26
Gear
  • No Slip condition
  • The tangential velocity is a constant
  • W*R is a constant
  • W=angular velocity
  • R=radius

5

10

W6

W5

W1=10

5

10

5*10=10*W2

1*10=5*W4 W4=?

W4=W5?

W5*10=W6*5 W6=?

W3=1

W4