CONTENTS

o INTRODUCTION o ANS o DEFINATION o TASKS o FUNDAMENTAL COMPONENTS o CONTROL SYSTEM o CONSTRUCTIONAL REQUIREMENTS o OTHER COMPONENTS

o SYSTEM MODELLING
o LINEAR MODEL OF DC MOTOR

A BRIEF HISTORY OF ROBOTICS

Mechanical Automata
Ancient Greece & Egypt
14th 19th century Europe
Water powered for ceremonies Clockwork driven for entertainment

Motor driven Robots

1928: First motor driven automata 1961: Unimate

1967: Shakey
First industrial robot Autonomous mobile research robot Dextrous, electric motor driven robot arm

1969: Stanford Arm

ROBOTS

WHAT IS ANS ?
o ANS is a ground combat vehicle upgrade used to convert manned vehicle to autonomous unmanned. o Capability of controlling autonomously. o Provides navigational, perception, path planning & vehicle following algorithms.

DEFINITION: (AUTONOMOUS) ROBOT

A mobile computer situated in the real world interacting with the environment through sensors and actuators in order to perform various intelligent tasks without constant attention.

TASKS
Understanding and modeling of the mechanism Kinematics, Dynamics, and Odometry Reliable control of the actuators Closed-loop control Generation of task-specific motions Path planning Integration of sensors Selection and interfacing of various types of sensors

FUNDAMENTAL COMPONENTS OF ROBOTS

1. A BRAIN 2. BODY: physical chassis that holds other pieces.

3. ACTUATORS: allows to move motors, lamps,etc.

4. SENSORS

5. POWER SOURCE

CONTROL SYSTEM
MICROCONTROLLER: small computer on a single integrated circuit containing a processor core, memory, & programmable input/output peripherals. PID control system is used for keeping the robot upright. There are three PID control system implemented .

- To control tilt and angle of robot.

- To control speed of motors.

PID terms determines the controller output readings.

CONTRUCTIONAL REQUIREMENTS
Balancing ability. Robot chassis must be -robust

-symmetrical
Center of gravity. Battery location.

Material used (Al)

Wheels (PE-polyethylene)

OTHER COMPONENTS
Actuators Sensors RC remote controller

Battery

SYSTEM MODELING
Mathematical model is required to facilitate the development of an efficient control system .

LINEAR MODEL OF A DC MOTOR

DYNAMIC MODEL FOR TWO WHEELS

THE EQUATIONS OF MOTION ASSOCIATED WITH THE LEFT AND RIGHT WHEELS ARE OBTAINED BELOW:

APPLICATIONS
Assembling products Handling Dangerous Material Inspection

Polishing and Cutting

Tasks involving danger to human or dangerous work

Spray finishing

 Garden maintenance Sweeping and cleaning

BIBLIOGRAPHY
[1] Ooi, Rich Chi (2003). Balancing a Two-Wheeled Autonomous Robot. University of Western Australia: Thesis B. Mechatronics Engineering.

[2] Christopher T. Killian, "Design, Modern Control Technology Components and System," Anne Arundel Community College, US.
[3] Bose, I. (2000). How to Make Good Homemade PCBs? Electronics for You Magazine. Pg 37-40. [4] HI-TECH Software Pty. Ltd. PICC Lite C Manual. Australia: User Manual. [5] Microchip Technology Inc. Brushed DC Motor Fundamentals. USA: Application Note. [6] Microchip Technology Inc. RC Model Aircraft Motor Control. USA: Application Note.

[8] http://leiwww.epfl.ch/joe/joerelatives.html [9] http://www.geology.smu.edu/%7Edpa [10] http://www.independencenow.com/?from=indetech. comindex.html [11] http://www.teamhassenplug.org/robots/legway/ [12]http://www.acroname.com/robotics/info/articles/backemf/backemf [13] http://en.wikipedia.org/wiki/Robot

WITHOUT SOME GOAL ,SOME EFFORT TO REACH IT, NO ONE CAN LIVE