Autonomous Robotics

PATH-FINDER

Robotics Club

Difference b/w Machine and Robots

Reach it

Basics of mobile robot

Sensory devices for direction and feedback Sensor data processing unit Actuators Locomotion system Control system for making decisions Power supply

Some Most Common Sensors

Touch Sensor and IR Sensor

Touch Sensors
One of the most simple ones---just a switch
electrical flow

force

voltage measurement

IR Sensor
This Consists of IR LED, IR sensor and a variable resistance (preset). The LED continuously emits and when any obstacle comes in front, the intensity is increased at the sensors, hence changing their state from OFF to ON. The range of these LEDs can be changed using the preset (changing threshold).

Light Sensor Photo Diode

This consists of a light energy photodiode which allows current through it, exponentially low light proportional to light light energy absorbed by it, exactly like a valve. It may or may not require an LED. bright light

voltage measurement

voltage measurement

electrical flow

Light Sensors LDR

LDRs are light dependent resistances Two circuits are possible as shown and the formula for them is

Rvariable

Rvariable

Actuators

Wordweb:A mechanism that puts something into automatic action. They convert electrical energy into mechanical energy. Motors provide rotational motion Electromagnet provides linear motion

Types of Motors

DC motors :Extensively used, all purpose ones, driven by dc power supply AC motor : not used in robotics, driven by ac power Stepper motor: extensively used in robotics where controlled rotation is required Servo motor: geared dc motor with inbuilt feedback and error compensation

DC Motor

Operates with dc voltage Can run in both directions Speed control

Working of a DC Motor

1. Direction of motion is controlled by polarity of voltage or direction of current 2. Speed is controlled by changing the average power (energy) fed to the DC motor

DC motor continued

DC motors are high speed and low torque devices Gears are used to decrease the speed and increase the torque They give a smooth shaft movement Easy to operate

DC motor drivers

Drivers are current amplifier circuits A low current control signal is converted into a proportionally higher current signal that can drive a motor

But How???? Power Transistors---Those which can handle current of the order of Amps

Switching circuit

H-bridge working

Electronic direction control

H-Bridge working

Actual Circuit
When both the points A & B are "HIGH" Q1 and Q2 are in saturation. Hence the bases of Q3 to Q6 are grounded. Hence Q3,Q5 are OFF and Q4,Q6 are ON . The voltages at both the motor terminals is same, so the motor is OFF. Similarly when both A and B are "LOW" the motor is OFF. When A is HIGH and B is LOW, Q1 saturates ,Q2 is OFF. The bases of Q3 and Q4 are grounded and that of Q4 and Q5 are HIGH. Therefore Q4 and Q5 conduct making the right terminal of the motor more positive than the left and the motor is ON. When A is LOW and B is HIGH ,the left terminal of the motor is more positive than the right and the motor rotates in the reverse direction. You can use only the SL/SK100s ,but BC148 used have a very low hFE ~70 and they would enter the active region for 3V(2.9V was what I got from the computer for a HIGH) . You can ditch the BC148 if you have a SL/SK100 with a decent value of hFE ( like 150).The diodes protect the transistors from surge produced due to the sudden reversal of the motor. The approx. cost of the circuit without the motor is around Rs.40.

DC motor Speed control circuit

Input: Operating voltage and control signal Output: Part of operating voltage according to control signal:

DC Motor speed control continued.

Voltage across the terminal of Motor can be changed by passing current through a variable resistor. But it is extremely energy inefficient A reduced average voltage is supplied to the motor by a technique called PWM

PWM

Pulse width modulation PWM is a technique to generate waveform of different duty cycles depending upon an input control voltage After feeding voltage waveform and changing its duty cycle ,speed can be controlled.

Duty cycle

Duty cycle continue..

Time period (T): duration after which the voltage waveform repeats itself Duty cycle: % time of T when the voltage is equal to operating voltage Average voltage:= Duty cycle x operating voltage ------------------------------------100

PWM generation

Timer IC 555 is used for generation of waveform Pin outs

Circuit for PWM generation

Download Datasheet for NE555

Both speed and direction control

L293D Quad Half H-Bridge

Pin outs of L293D

Stepper Motor
Widely use in Robotics ---why?? Because it is more precise than DC motor Measured rotation and can be held at a particular position Alignation is much better in a differential drive

Stepper motor continue

Types of Stepper

Mainly of two types

Unipolar motor: the current only flows in one direction in the windings of the coils. i.e. the stator poles can only be polarized one way.

Continued.
Bipolar motor: the current flows in both direction in the windings of the coils. i.e. the stator poles can be polarized both way.

Comparison

Unipolar

Bipolar

Current flow in one direction Simple drive circuit Less torque Smooth drive

Current flow in both direction Complicated drive Circuit High Torque Not Smooth

Unipolar Stepper Motor

This kind of motor has four coils . When energized in the correct sequence, it causes the permanent magnet attached to the shaft to rotate. There are 4 basic step sequences. After step 4, the sequence is repeated from step 1 again. Reversing the order of the steps in a sequence will reverse the direction of rotation.

Single coil excitation

0010

0100
0001

1000

a. Single-Coil Excitation - Each successive coil is energized in turn.

Double coil Excitation 0011 0110 1100

1001

Note: The excitation of Coil 4 is always the inverse of the excitation of Coil 2. The excitation of Coil 1 is always the inverse of the excitation of Coil 3. So, with the right circuit, you can generate this sequence with only two data lines.

b. Two-Coil Excitation - Each successive pair of adjacent coils is energized in turn.

Interleaving the two sequences will cause the motor to half-step

Single and Double coil Excitation

1000 1100 0100 0110 0010 0011 0001 1001

0100

0011

1001

0010

1000

0110

1100

0100

Comparison

Single coil
Low torque
Consume less energy Settling time is more

Double coil
High torque
Consume double energy Settling time is less

Circuit Diagram

The Coil Diagram

Connections

Data Port1

Motor 1

Data Port2

Motor 2

Note connect a 15v zener diode to pin 10 of IC as shown to prevent damage to the IC due to "back emf" when loads such as motors switch on and off

25-way Female D-Type Connector

PC parallel Port

The PC's Parallel Printer Port has a total of 12 digital outputs and 5 digital inputs accessed via 3 consecutive 8-bit ports in the processor's I/O space. 8 output pins accessed via the DATA Port 5 input pins (one inverted) accessed via the STATUS Port 4 output pins (three inverted) accessed via the CONTROL Port The remaining 8 pins are grounded