37367988 intelligent robot[1]
TRANSCRIPT
-
8/8/2019 37367988 Intelligent Robot[1]
1/28
PresentationOn
Intelligent Robot
ByRohan Singh(0709633097)
Sakshi Goel (0709633098)SonyJaiswal(0709633109)Tejvir Chhabra(0709633115)
-
8/8/2019 37367988 Intelligent Robot[1]
2/28
Contentsn Introduction
n History
n Block Diagram of Intelligent Robotn Mechanical Aspects
n Motors
n
Sensorsn Microcontroller
n References
n
n
-
8/8/2019 37367988 Intelligent Robot[1]
3/28
What is Intelligent Robot ?n Completely autonomous robot
n Search/Navigate the given maze
n
n
Takes shortest time path fromstart to centre
-
8/8/2019 37367988 Intelligent Robot[1]
4/28
-
8/8/2019 37367988 Intelligent Robot[1]
5/28
What all is needed tomake a Intelligent Robot ?
-
8/8/2019 37367988 Intelligent Robot[1]
6/28
Intelligent Robot
Block DiagramLeftMotor Motor
Driver
Right
Motor
MotorDriver
Microcontroll
er
Op-
ampsLED
Drivers
Comp-arator
s
Analog
SensorModule
TopDown
SensorModule
-
8/8/2019 37367988 Intelligent Robot[1]
7/28
MechanicalAspects
Stability - Static - Dynamic Performance - Speed - Acceleration/Retardation - Turning - Accuracy
-
8/8/2019 37367988 Intelligent Robot[1]
8/28
Relations
n Material + Size => Weight
n Weight + Shape => Inertia
n Weight + Shape => Centre of Massn Wheel Size => Speed , Acceleration
n Wheel separation + CoM
+ Inertia => Stability
-
8/8/2019 37367988 Intelligent Robot[1]
9/28
MOTORS
-
8/8/2019 37367988 Intelligent Robot[1]
10/28
Stepper Motors
n
nTheory of Operation
n Different driving techniques
n Step calculations - For moving ahead - For taking turns
-
8/8/2019 37367988 Intelligent Robot[1]
11/28
DC motor Vs StepperMotor
n DC Motor
1.Usually much
lighter thanstepper motor.
2.Higher efficiency.
3.Precise speed
control is noteasy andrequires closedloop system .
-
n Stepper Motor
1.Heavier than DC
motors.
2.Lower efficiency.
3.Speed control isstraightforwardand precise.
-
8/8/2019 37367988 Intelligent Robot[1]
12/28
SENSORS
-
8/8/2019 37367988 Intelligent Robot[1]
13/28
Sensors
n What is a sensor ? - A device that measures or
detects a physical condition. - An electronic sensor
converts this measurements into an
equivalent analog or digital electrical
-
8/8/2019 37367988 Intelligent Robot[1]
14/28
Sensorsin Intelligent Robot
n Why does a Intelligent Robotrequire sensors ?
- Detect presence/absence ofwalls
- To be able to run straight - To be able to position and
orient itself in the maze
-
8/8/2019 37367988 Intelligent Robot[1]
15/28
Distance Measuring
n How to measure distance ?
n Measuring Reflected
Intensityn Measuring Reflection
Timen Measuring Reflection
Position
-
8/8/2019 37367988 Intelligent Robot[1]
16/28
-
8/8/2019 37367988 Intelligent Robot[1]
17/28
-
8/8/2019 37367988 Intelligent Robot[1]
18/28
Sensor ApproachesFor Intelligent Robot
n
Top Down Sensing Approachn Side Looking Sensing Approach
-
8/8/2019 37367988 Intelligent Robot[1]
19/28
-
8/8/2019 37367988 Intelligent Robot[1]
20/28
Side LookingSensing Approach
n What type of sensors can beused ? -Analog Type
n Results in a very compact mousedesign
n Angling the sensors
-
8/8/2019 37367988 Intelligent Robot[1]
21/28
Navigating the Maze
n Forward Error - When the mouse stops at wrong
position in a celln Offset Error - When the mouse is more closer to one
wall
than the othern Heading Error - When the mouse is pointing towards
the wall rather than straight
-
8/8/2019 37367988 Intelligent Robot[1]
22/28
MICROCONTROLLER
-
8/8/2019 37367988 Intelligent Robot[1]
23/28
Microcontrollers
n What is a microcontroller ? - Definition: A computer-on-
chip - Microprocessor + added
stuff on a single chip - Use to control general
purpose electronic devices
-
8/8/2019 37367988 Intelligent Robot[1]
24/28
Inside aMicrocontroller
n CPU
n Program Memory (EEPROM/Flash)
n Data Memory (RAM)n Input/Output ports
n Interrupts
n
Timersn UART
n ADC
n SPI
-
8/8/2019 37367988 Intelligent Robot[1]
25/28
ATmega 16Microcontroller
n 8 bit AVR Family of microcontrollersn RISC architecturen
16k Flash memory (Program)n 1k RAM (Data)n Four 8-bit i/o portsn 8 channel ADCn 3 Timers (Two 8-bit and one 16-bit)n USARTn SPIn
-
8/8/2019 37367988 Intelligent Robot[1]
26/28
-
8/8/2019 37367988 Intelligent Robot[1]
27/28
-
8/8/2019 37367988 Intelligent Robot[1]
28/28
Thank You