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I.
INTRODUCTION
Robots are programmable physical machines that have sensors and actuators, and are given goals for what they should achieve in the world. Perception algorithms process the sensor inputs, a control program decides how the robot should behave given its goals and current circumstances, and commands are sent to the motors to make the robot act in the world. Some robots are mobile, but others are rooted to a fixed location. A robot is a machine that imitates the actions or appearance of an intelligent creature- usually a human & gathers information about its environment (senses) and uses that information (thinks) to follow instructions to do work (acts). Thus to qualify as a robot, a machine has to be able to do two things: 1) Get information from its surroundings 2) Do something physicalsuch as move or manipulate objects. Almost all robots are comprised of a movable body, wheels operated by motors, and parts which can be moved made of plastic or metal. The sections are coupled together with joints.
The mechanical structure is the whole chassis of the robot. The structure will form the base where all the components such as the motor, controller, sensors, and batteries are mounted. Some of the important features that the mechanical structure must possess are: Rigid and stiff Lightweight Non-corrosive Durable. Controller and software
III. PRELIMINARY DESIGN The proposed robot for this project uses four motors as the actuators. In the design the proposed robot will use two motor each to control the front and rear legs. In addition to that, micro controller and sensors will be added to improve the robots capability. The Robotic Unit is programmed to operate in three modes. They are: 1) Manual Mode or Remote Control operation mode. 2) Wall Following Mode (Left Wall) and 3) Fixed Mode (Path loaded through PC). The controller which consists of an Atmega 16 microcontroller and appropriate electronic circuitry will be feed with input from sensors (analog distance sensor, metal detector sensor and smoke detector) and drive the four motors. Finally, this project is focusing on the programming aspect to control the robots movement. The suitable program arrangement needs to be programmed to ensure smooth movement of the robot and able to respond sensitively to the sensor. The autonomous robot, will be able to send the environmental status, the temperature condition, and if there is any obstacle on its path, and what is the obstacle in any remote place which is not reachable by the humans and this will be displayed on the LCD screen.This project can be divided into two parts, i.e. Robot end and user interface (Control) end. Robot is monitored and controlled from remote place. Robot has an array of sensors for monitoring environmental status. Since it started to move, it will check whether there is any obstacle in its path and if there is any obstacle it will detect the obstacle material, and the current environmental condition of the place where the robot is situated and also the gripping force of the robot by means of PIR sensor. From the user end we will get the data acquisition of monitoring parameters at the robotic end and the system will automatically store the database of data acquired from other end at frequent interval of time (in seconds). Robots movements (Forward, Reverse, Left, and Right) will be
The controller will act as the brain of the robot. It will control the movement of the robot based on the preloaded program as well as the feedback from the sensors. The following are some of the important features the have been identified for the controller: Fast Sufficient number of input and output ports Low power consumption Ease of programming Availability The software used in this application is AVR Studio where program is written in C language and Proteus software is used for the virtual simulation. The results for speed control of motor using Proteus Software is shown in the Results Section. Drive system
The drive system will be the motor which will serve to move the robot. Among the important features that must be taken into account when choosing the drive system is: Torque Weight Ease of control Sensory system
The sensory system will be the eyes of the robot. It will help monitor the surroundings of the robot and feedback important information to the robot regarding its surroundings. With the
The power supply will provide the robot the necessary energy to function. Since the robot is autonomous, portable power supply is needed. Among the important parameters that are important in choosing the power supply are: Power storage capacity Weight Cost Size Here, we are using a Solar Panel of 10 watt to store the solar energy which will provide charge to the Lead Acid battery used. Hence the name is Solar Based Autonomous Robot. IV. HARDWARE OF THE ROBOTIC PLATFORM AND REMOTE CONTROL PART:
Figure.2.
V. ROBOTS ABILITIES Once the robot characteristics have been identified, the next step is the analysis for identification of strengths and weakness. The robot is tested by moving it on flat surface and grass surface. From experiments conducted, robot was able to move perfectly on flat surface. However, difficulties occurred when the robot tried to move on grassed surface. The robot was still able to move, but the direction will be somewhat misaligned. The sensitivities of the robot
Figure.1.
Robotic Platform
The final process in the analysis stage is to test the alertness of the robot. In testing the alertness of the robot, the alertness of the sensor is tested earlier. It is found that the sensor was able to detect obstacle ahead in distance of 3cm and above in clear lightning. Therefore, for every analysis the maximum and minimum of alertness needs to be co-ordinated before the testing take place. Next the robot was activated and freely moved forward without controls. It is found that the robot was able to respond to obstacles in front. When the right sensor detected obstacles on the right, it turned to left direction and vice versa.
REFERENCES
[1] A Six Wheeled Solar Robot by MOHAMED SAIFUL B ZAINAL ABIDIN. [2] A Review on Robotics by Rodney Brooks, MIT, Version 4: March 17, 2009. [3] The Current State of Robotics: Post or Pre-Robotics? By Miguel A. Salichs, Carlos Balaguer, Robotics Lab, University Carlos III. Email id: {salichs, balaguer}@ing.uc3m.es. [4] History and Development of Robots by Christopher Haggis, Wagner College, May 2003. [5] FREGO Bot: Fully Rectangular Excellent Great Outstanding Bot, Fully autonomous exploration robot by Dave Ceddia, Mike Howlett, Jim Censabella, Robot Design Lab Olsen Hall Room 306, UML Computer Science Department, Lowell MA, 01854. [6]Robotics: The Past, the Present and the Future By Shuzhi Sam GE, Director, Social Robotics Lab, Interactive Digital Media Institute, & Department of Electrical and Computer Engineering, National University of Singapore E-mail: samge@nus.edu.sg. [7] An Autonomous Four-Legged Robot' by AHMAD SAIFUDIN BIN ISKANDAR, Universiti Teknologi Malaysia, MAY 2010.