an introduction to robotics and embedded system

An Introduction

on Robotics

&Embedded C

Presented By :Peeyush Sahu

Introduction to Robotics :

Robotics is the study of the design,

construction and use of robots.

These technology represent a

practical application of Physics,

Computer Science, Engineering and

Mathematics .

It provides a variety of Engineering

Concepts.

Every Automated systems can be

stated as a Robot.

History

Why do we need a Robot :

To perform a Job accurately and

efficiently.

To perform a job safely.

To achieve High Throughput (Work done

per Unit time).

To avoid mistakes.

To perform a job continuously without

getting tired.

A robot never says “No, I’ll not do this job

because it is not interesting”.

Actually, there are endless reasons for

using Robots.

What is Robot :

"A reprogrammable, multifunctional

manipulator designed to move material,

parts, tools, or specialized devices

through various programmed motions

for the performance of a variety of

tasks“.

An automatic device that performs

functions normally ascribed to humans

or a machine in the form of a human.

So let’s start doing Robotics by

INVENTING THE TECHNOLOGY WE DES IRE ! ! !

How to Plan a Robot :

It depends upon the requirements.

We have to fix the environment for the

Robot.

For example, if we want a robot who will

make coffee than the materials required

for that are known to Robot. So that the

Robot can take materials from there to

complete the Process. But if we are

unable to do that than we have to develop

a robot, having the capabilities for

identifying the Objects.

How to understand the Logic of Robot :

Let’s take an example of such a robot who

will go to market and buy vegetables. In

this condition , the robot has the

capabilities of identifying the vegetables,

streets, available shortest path from the

source to destination etc.

Types of Robot :

Industrial Robots :

-materials handling

-welding

-inspection

-improving productivity

-Laboratory applications

Mobile Robots :

- Robots that move around on legs, tracks or wheels.

- In 1979 a nuclear accident in the USA caused a leak of

radioactive material. Led to production of special robot

-Teleoperator to handle the radioactive material.

Educational Robots

Domestic Robots

Current Scenario :

A first particular new innovation in robot design is

the open sourcing of robot-projects.

Currently, there are about 1 million industrial

robots toiling around the world, and Japan is the top

country having high density of utilizing robots in its

manufacturing industry

Certification

The Robotics Certification Standards Alliance

(RCSA) is an international robotics certification

authority who confers various industry and

educational related robotics certifications.

Rules of Robotics (Asimov’s law of Robotics) :

A robot may not injure a human being, or,

through inaction, allow a human being to

come to harm

A robot must obey orders given it by

human beings, except where such orders

would conflict with the First Law.

A robot must protect its own existence as

long as such protection does not conflict

with the First or Second Law.

Zeroth Law :

No robot may harm humanity or through

inaction allow humanity to come to harm.

Introduction to Basic Electronic Components Used in Robot ….

The following are the basic electronic components we

have to use in a Robot :

- Resistor

- Capacitor

- Diodes

- Transistors

- Motors

- Power Supply

- Sensors

Resistor :

Resistors are the obstacles in the path of the electrons

flowing in the wire.

We use Resistor because :

Limiting current to another component.

Reducing voltage in some parts of the Circuit.

Controlling the voltage / current flowing into

another component.

Protecting the inputs of sensitive components.

Types of Resistor :

Circuit Symbol

Variable Resistor

Light Dependent Resistor

Capacitor :

Capacitor store electrons by attracting them to

Positive Voltage.

When the voltage is reduced or removed the

electrons move disappear off.

These are used for :

Creating Timers.

Smoothing out voltage.

Blocking DC Current.

Adjust Frequency.

Types of Capacitor :

Electrolytic Capacitor

Ceramic Capacitor

Diodes :Diode is a two terminal electronic component that

conducts electric current in only one direction.Types of Diode :

Anode

Cathode

Silicon P-N Junction Diode :

Light Emitting Diode

Photo Diode

Transistors :Transistors are a kind of Switches. We can control the

switch using voltage on base pin.

The transistors we are using are : P-N-P , N-P-N ,

Phototransistor

+V

InfraredPhoto

Transistor

+Vo

ut

Resistor(~ 10 K)

θ

N-P-N Photo Transistor

Working of 2N2222 (NPN) Transistor IR Sensor circuit by Phototransistor

Motors :Motors are used to provide the motion to machine

directly.

There are four types of Motors :DC Motor DC Geared Motor

Stepper Motor Servo Motor

Power Supply / Source : In Robotics we use 12 V and 1 A power supply

generally but it can vary up to 12 V and 5 A.

It depends upon the Circuit Requirements.

We can use the Voltage Regulator to increase or

decrease the value of Voltage as per the requirement.

7805 Voltage Regulator

Sensors :

Sensors are the devices which are used to sense the

changes that occur in their surroundings.

Types of Sensors :

Sensors

Proximity

Mechanical

Switches

Reflective

Infrared

Visible

Ultrasound

Environmental

Light

Temperature

Humidity

Gas

Pressure

IR Sensor :

There is one emitter and one detector.

Emitter emits IR rays and the detector detects it.

Black LED is an emitter and White LED is the Photo

Diode.

It consists three components : IR LED, Photo Diode,

Op-Amp (LM358 IC).

Op-Amp

(LM358)

Potentiometer

Three Pin Connector

Indicator LED

IR LED

Photo

Diode

IR LEDPhoto Diode

Working of Sensor :

Black LED generating IR

rays and these rays are

reflected by the surface. (If

the surface is black than it

will absorb the Light)

The Photodiode senses the

light and indicator LED shows

the result that whether there

is an object or not.

If indicator LED is on than

the result is +ve and when it is

off then the result is -ve.

HowTo

Builda

LineFollower

RobotLine Follower

What is a Line Follower Robot :

Robot which follows a Line whether it is Curvy or

Straight or Divergence.

We are going to make a machine which will follow a

black line on white background.

If there is any divergence or any cross points in the

path of the machine then it will stop in such case.

These type of case will be solved by the Intelligent

Line Follower.

We are using the AVR ATMega16 Microcontroller to

build this Robot.

Components Required :

1. Development Board – 1 No.

2. Caster Wheel – 2 No.

3. IR Sensor Kit – 2 No.

4. Battery – 6 Volt

5. Wheel Clamps – 2 No.

6. Geared Motors – 2 No.

7. Connecting Chords as required.

Development Board

Right Sensor Left Sensor

Right Wheel Left Wheel

LCD

Connecting Cord

Working of Line Follower

Left Sensor

Right Sensor

Left Sensor

Right Sensor

If left sensor detect the light surface and right sensor detect dark surface then the robot will turn right.

If left sensor detect the dark surface and right sensor detect light surface then the robot will turn left.

Working of Simple Line Follower

How Line Follower Works …

How to Program a Robot …

Required Software :

Operating System : Windows XP, Vista, Windows 7

Tools : AVR Studio. (Current versions has AVR-GCC plug-in to write

code in C)

Compiler : IAR, Image Craft , Code Vision AVR, Win

AVR

Loader : AVR Loader by Robosapiens India

Required Hardware :

USB Programmer

Connecting Cord

Write your program here

1. Synthetic Aperture Radar (SAR) Antenna

2. Inertial Navigation System/GPS

3. Ku-Band Satellite Communications Antenna

4. Video Cassette Recorder

5. GPS Antennas (Left and Right)

6. APX-100 Identification Friend or Foe Transponder

7. Ku-Band Satellite Communications Sensor Processor

Modem Assembly

8. C-Band Upper Omni directional Antenna Bracket

9. Forward Fuel Cell Assembly

10. Aft Fuel Cell Assembly

11. Accessory Bay

12. Engine Cooling Fan

13. Oil Cooler/Radiator

14. 914F Engine

15. Tail Servo (Left and Right)

16. Battery Assembly #2

17. Power Supply

18. Battery Assembly #1

19. Aft Equipment Bay Tray

20. Secondary Control Module

21. Synthetic Aperture Radar Processor/AGM-114 Electronics

Assembly

22. Primary Control Module

23. Front Bay Avionics Tray

24. ARC-210 Receiver/Transmitter

25. Flight Sensor Unit

26. Video Encoder

27. De-ice Controller

28. Electro-Optical/Infrared Sensor/AN/AAS-52(V)1

Electronics Assembly

29. Front Bay Payload Tray

30. Ice Detector

31. Synthetic Aperture Radar (SAR) Receiver/Transmitter

32. Nose Camera Assembly

AMBRobot an UAV (Robobug)

THANK YOU