robotics part-1

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TECHVILLA

www.techvilla.org.in

ROBOTICS

HISTORY,EVOLUTION,PRESENT USE AND FUTURE SCOPE


ROBOTS

• Robota (Czech) = A worker of forced laborFrom Czech playwright Karel Capek's 1921 play “R.U.R” (“Rossum's Universal Robots”)

• Japanese Industrial Robot Association (JIRA) :“A device with degrees of freedom that can be controlled.”•Class 1 : Manual handling device•Class 2 : Fixed sequence robot•Class 3 : Variable sequence robot•Class 4 : Playback robot•Class 5 : Numerical control robot•Class 6 : Intelligent robot


HISTORY OF ROBOTS

In Mythology:

• Many ancient mythologies included artificial people, such as the talking mechanical handmaidens built by the Greek god Hephaestus out of gold.

• Chinese legend relates that in the 10th century BC, Yan Shi made an automaton resembling a human in an account from the Lie Zi text.

• The Indian Lokapannatti (11th/12th century) tells the story of King Ajatasatru of Magadha who gathered the Buddhas relics and hid them in an underground stupa.The Buddhas relics were protected by mechanical robots (bhuta vahana yanta), from the kingdom of Roma visaya; until they were disarmed by King Ashoka


ROBOTS IN MODERN AGE

• Science fiction writer Isaac Asimov first used the word "robotics" to describe

the technology of robots and predicted the rise of a powerful robot industry.

• The first “programmable” mechanism, a paint-sprayer, was designed by Willard Pollard and Harold Roselund for the DeVilbiss Company. (US Patent No. 2,286,571)

• Ichiro Kato created WABOT I which was the first full-scale anthropomorphic robot in the world. It had a system for controlling limbs, vision, and conversation! It was estimated that it had the mental ability of a 18 month old child.


ROBOTS

Robot Manipulators

Mobile Robots


ROBOTS Walking Robots

Humanoid Robots


AUTONOMOUS ROBOTS

• The control of autonomous robots involves a number of subtasks• 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• Coping with noise and uncertainty

• Filtering of sensor noise and actuator uncertainty• Creation of flexible control policies

• Control has to deal with new situationswww.techvilla.org.in

WHAT IS A ROBOT?

• A robot is a device that is made to independently perform actions and interact with its surroundings.


FEATURES A ROBOT MUST HAVE.

• Movement: A robot must be able to make some movement with the help of some actuators or some other mechanism. We must be able to reliably place the robot anywhere we want.

• Sensing: The robot must be able to perceive its environment through sensors locate obstacles to avoid, and objects of interest that we want it to interact with.

• Plan/Act: The robot must be able to make decisions using its processor based on it’s sensors and feed them to it’s actuators to be able to move.


TYPES OF ROBOTS

BY APPLICATION

• Industrial robots.

• Household robots.

• Medical robots.

• Service robots.

• Millitary robots.


BASIC COMPONENTS OF A ROBOT

• Sensors.

• Microcontroller.

• Actuators.

• Motors.

• Power supply.


SENSORS

• Sensors are devices that take non-electrical or electrical values as their input and convert them into a form that is understood by computers. For eg. Lm35 temperature sensor gives analog electrical signals corresponding to its surrounding temperature.www.techvilla.org.in

MICROCONTROLLER

• Microcontrollers are programmable IC’s which have peripherals like timers,eeprom,flash memory,cpu,clock generator,ram,rom,A/D convertor.

• Eg Atmega32/16/8,at89s52,lpc2148,pic18fxx


ACTUATORS

• Hardware devices that convert a controller command signal into a change in a physical parameter

• The change is usually mechanical (e.g., position or velocity)

• An actuator is also a transducer because it changes one type of physical quantity into some alternative form

• An actuator is usually activated by a low-level command signal, so an amplifier may be required to provide sufficient power to drive the actuatorwww.techvilla.org.in

DC MOTORS

• The most common actuator in mobile robotics

• simple, cheap, and easy to use.

• come in a great variety of sizes, to

accommodate different robots and tasks.


PRINCIPLES OF OPERATION• DC motors convert electrical into

mechanical energy.

• They consist of permanent magnets and loops of wire inside.

• When current is applied, the wire loops generate a magnetic field, which reacts against the outside field of the static magnets.

• The interaction of the fields produces the movement of the shaft/armature.

• Thus, electromagnetic energy becomes motion.


THE BASIC IDEA

• A motor uses magnets to create motion. • The fundamental law of all magnets:

Opposites attract and likes repel.

• Inside an electric motor, these attracting and repelling forces create rotational motion.


POWER SUPPLY SYSTEM


EMBEDDED SYSTEMS

• Introduction to embedded systems.

• Embedded systems vs general purpose computer.

• Key components of an embedded systems.

• Applications of embedded systems.


INTRODUCTION

• An embedded system is a combination of computer hardware and software, which is designed to handle specific tasks. For example automatic washing machine


EMBEDDED SYSTEMS VS. GENERAL PURPOSE COMPUTER

• A general purpose system can be used for many things, whereas an embedded system is only meant for one purpose.

• The defining feature of a general purpose computer is that it can be reconfigured for a new purpose.

• All general purpose computers are embedded systems but all embedded systems are not general purpose.


KEY COMPONENTS OF AN EMBEDDED SYSTEM

• Hardware:

• Microcontroller.

• Application software.

• Buses

• Embedded operating systems(in more sophisticated systems)


MICROCONTROLLER – SINGLE CHIP COMPUTER

• Single chip with memory and all input/output peripherals on it. Usually it has following features:

• Arithmetic logic unit.

• Program Memory.

• EEPROM for storing nonvolatile data storage.

• RAM for storing variables and special function registers.

• Timers and counters.

• Analog to digital converters.

• Serial communication port.


MICROCONTROLLER – ARCHITECTURE


AVR Microcontroller

AVR stand for?

Advanced Virtual RISC, the founders are Alf Egil Bogen Vegard Wollan RISC

AVR architecture was conceived by two students at Norwegian Institute of Technology (NTH)[1] and further refined and developed at Atmel Norway, the Atmel company founded by the two chip architects.

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AVR Microcontroller

AVR Micro controllers is Family of RISC Microcontrollers from Atmel.

There are multiple architectures

RISC (Reduced Instruction Set Computer)CISC (Complex Instruction Set Computer)


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RISC Microcontroller

Reduced Introduction Set Computer

Till 1980 Trend was to build increasingly complex CPUs with complex set of instructions like (CISC)

(RISC)Instruction execute in single cycle

“Architecture which reduces the chip complexity by simpler processing instructions”.

RISC architecture CPUs capable of executing only a very limited (simple) set of instructions.


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RISC Microcontroller

Reduced Instruction Set Computers Advantages

• Fast Execution of Instructions due to simple instructions for CPU.• RISC chips require fewer transistors, which makes them cheaper to design and produce. • Emphasis on software • Single-clock,reduced instruction only • Register to register: “LOAD" and "STORE“ are independent instructions • Spends more transistors on memory registers


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The AVR is a Harvard architecture CPU.

Harvard Architecture

Computer architectures that used physically separate storage and signal pathways for their instructions and data.

CPU can read both an instruction and data from memory at the same time that makes it faster.

von Neumann architectureCPU can Read an instruction or data from/to the memory. Read, Write can`t occur at the same time due to same memory and signal pathway for data and instructions.

AVR Microcontrollerwww.techvilla.org.in

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Harvard Architecture

AVR Microcontroller

Harvard Architecture diagram


SOFTWARE TOOLS FOR AVR

• Installing WINAVR.

• Installing AVRSTUDIO.

• Using AVRSTUDIO to write codes for avr.

• Burning hex code in the microcontroller


INSTALLING WINAVR

• Install the WINAVR software provided to you.

• The editor for writing code is “PROGRAMMER’S NOTEPAD” and “MFILE” is the makefile.

• Winavr includes avr-gcc (compiler), avrdude (programmer), avr-gdb (debugger), and more.


INSTALLING AVR-STUDIO

• AVR studio is an Integrated Development Environment (IDE) by ATMEL for developing applications based on 8-bit AVR Microcontroller.

• Installation of Winavr is necessary before installing avr studio.

• Go to http://www.atmel.com/microsite/atmel_studio6/ and register for the download of installer file.

• Click on download link from the atmel-e-mail in your email-id provided during registration.


• Download the atmel studio software.

• After download is completed, Double click on the installer file to start installation

• Click on the install option.

• If you already have Visual Studio 2010 installed then it won’t re-install. www.techvilla.org.in

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robotics part-1

Engineering