Universiti Teknologi Malaysia Robot Contest

UBOCON 02
Bengkel Asas Pembinaan Robot
Prepared by Yeong Che Fai

Overview
Introduction-Robot?

Line

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Brain Sensors Actuator

Software

Hardware
Video

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

Introduction-Robot?
Human Brain Legs Eye Robot Controller Actuators Sensors

Overview

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Controller (Brain)
Motors and wheels (Leg)

Platform
(Try to be as interesting possible)

Sensors (Eye)

Motor and Wheel

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Motors and wheels (Leg)

Motor and Wheel

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Motor and wheel (Leg) wheel (Leg) and wheel (Leg) Motor and Motor
Motor DC Gear Motor

Wheels
Toy Wheels A portion of PVC ( or any cylindrical) tube wrapped with rubber grip (racquet grip)

Motors Wheels

Motor and Wheel

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Robots Motion
Castor

Motor

Move to Move to Moving Backward Forward Right Left

Wheel

Motor and Wheel

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Motor Interfacing
L293B ULN2803 and Relay Transistor etc

Motor and Wheel

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L293B circuit L293B circuit

Vss = Logic Supply = 4.5V to 36V Vs = Motor Driver Supply = Vss to 36V

Sensors

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Controller (Brain)
Motors and wheels (Leg)

Platform
(Try to be as interesting possible)

Sensors (Eye)

Sensors

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Sensors (Eye)

Sensors

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Sensors (Eye)
Infra red Light sensor

Light Infra Redsource

Sensors (Eye)

Sensors (Eye)

Sensors

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Castor Emitter Detector Line

Wheel

Motor and Wheel

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Controller (Brain)
Motors and wheels (Leg)

Platform
(Try to be as interesting possible)

Sensors (Eye)

Controller

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Controller (Brain)

Controller

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Controller (Brain)

Hard Wired
Microcontroller, Motorola,Atmel,PIC

Microprocessor
DSP Board

PC based Controller
FPGA

Controller- Micro controller

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Atmel AT89C2051-24PI
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

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Atmel AT89C2051-24PI
5V
10uF Reset 10K ohm 33pF Oscillator 12Mhz 5 1 A T M E L A T 8 9 C 2 0 5 1 19 18 17 16 15 14 13 12 11 9 8 7 6 3 2 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

Input Start button Stop button Line Sensors Output Motor direction (L293) Leds Buzzer

33pF
Vcc 20 Gnd 10

Controller- Micro controller

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Atmel AT89C2051-24PI
5V 10uF Reset 10K ohm 33pF Oscillator 12Mhz 5 1 A T M E L A T 8 9 C 2 0 5 1 19 18 17 16 15 14 13 12 P1.7 P1.6 P1.5 P1.4 P1.3 P1.2 P1.1 P1.0 Comparator L M 3 2 4 Detector Sensors (Input) Preset

33pF
Vcc 20 Gnd 10

11 9 8 7 6 3 2

P3.7 P3.5 P3.4 P3.3 P3.2 P3.1 P3.0

Right Motor

L 2 9 3 B Motor Driver

Actuator (Output) Left Motor

Algorithm

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Controller (Brain)
Motors and wheels (Leg)

How to integrate all the components together ; the controller, actuator and sensors?

Platform
(Try to be as interesting possible)

Sensors (Eye)

Algorithm

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Algorithm Robot Algorithm wheels (Leg) Motors and

Controller (Brain) ALGORITHM ! Controller (Brain) Motors and wheels (Leg) Controller ALGORITHMand wheels (Leg) (Brain) Motors ! ALGORITHM !Platform Platform Platform (Try to be as (Try to be as interesting Sensors (Eye) possible) interesting (Try to be as
Sensors (Eye) Sensors (Eye)
possible) interesting possible)

Algorithm

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Sensors Left or Middle or Right sensor triggered Algorithm process the Inputs / sensors reading Move direction based on algorithm written

Controller

Actuators

Algorithm

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Algorithm for 3 line sensors

L 0 0 0 1 0

M 0 0 1 0 0

R 0 1 0 0 0

Stop/Error Turn Right

Forward
Turn Left Stop/Error

Algorithm

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Flow chart for 3 line sensors
Start End

Middle Sensors?

Yes

Moving Forward Turn Left Error

No
Right Sensors?

Yes

Turn Right

Yes
Left Sensors?

No

No

Algorithm

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Assembly language Blinking Led
$mod51 org 0h delay1: mov r1,#10

mov
mov again: jnb

p3,#11111111b
p1,#00000000b

l1:
l2: l3:

mov
mov

r2,#255
r3,#255

djnz r3,l3 djnz r2,l2

p3.0,ps1

jnb

p3.1,ps2

djnz r1,l1
ret ;Led Blinking

ljmp again ; switch1: mov p1,#11111111b acall delay1 mov p1,#00000000b acall delay1 ljmp switch1 switch2:

end

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

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 whats been presented here.

Appendices

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

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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

NOW Show off your creativity!!!

The End