ENGR 100 - Robotics Project

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ENGR 100 - Robotics Project
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What is a Robot?

• A Electro-Mechanical system Plus Artificial
  intelligence
• Can do certain tasks that human like

Robot Arm
Honda Asimo
Robot Fish
Robot Vacuum
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Basic Component of Robot

• Artificial Intelligence(software)
• Learning (Neuron network training)
• Motion control(output)
• Information analysis(input)
• Physical Part(Hardware)
• Leg, Hand, Head
• spine

http//www.youtube.com/watch?vQ3C5sc8b3xM
http//www.youtube.com/watch?v9vRg64HX5gA
http//www.youtube.com/watch?veO9oseiCTdk
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Project Objectives

• The goals of this project are to
• Basic computer programming.
• Experience the design process.
• Build a programmable robot.

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Tasks

• Three different tasks
• Robotic Wheelchair, Car, The defender.
• Three different programs
• Program 1 - Robotic Wheelchair (do first!)
• Program 2 - Car
• Program 3 Dog/Cat. The defender (be creative!)

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Arena Layout
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This is the competition!
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Scoring for performance grading
10 pts
10 pts
10 pts
10 pts
10 pts
Base Pts At some point before competition day,
each teams robot must complete the entire
course. Additional points each round - 20 pts
for Wheel chair car, 20 pts for Car, and 20 pts
for Defender.(build by NQC or your own sensor)
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Project flow

• Know the project goals/requirements.
• Learn RCX programming/Gather ideas for robot
  design.
• Build a pathfinder.
• Test run.
• Final competition.

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Rules (see handout for complete listing)

• Robotic wheelchairs cannot be touched once
  competition has started.
• Malfunctioning defenders and cars will be removed
  from the course.
• Max robot dimensions at start of competition - 1
  ft x 1 ft x 1 ft
• Wheelchairs and cars sending messages will be
  disqualified. Defenders not limited.

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Robot Basics -RCX

• Command Brick
• 3 output
• 3input
• 5 programe

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Robot Basics - Sensors Motors

• Input/Output Ports
• Touch sensors
• Light sensor
• Motors
• RCX signals

Tips - Use view mode to check light sensor.
Battery power affects speed of motors. Batteries
run out fast! Dont block infrared sensor.
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Robot basics Programming

• No matter what language you use, there are 3
  basic control structures for organizing the
  programming commands
• Sequential
• Repetition (Loops)
• Conditional

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Sequential

• Sequential statements are defined as a list of
  commands that are executed in order.
• For example
• Set Forward Direction
• Go forward for 3 s
• Stop

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Repetition

• Repetition statements allow for a series of
  commands to be repeated for a set number times.
• For example
• Repeat 3 times
• Set forward direction
• Move forward for 3 s
• Stop
• End Repeat

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Conditional

• Conditional statements allow for two (or more)
  different sets of commands to be executed
  depending on a condition.
• For example,
• If certain conditions are true - one set of
  commands will be execute.
• Else if any (or all) are false - another set of
  commands will be executed.

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Example of Conditional Statements

• For example -
• If the light is lt50
• Set Direction Forward
• Move Forward for 3 s
• Stop
• Else If light is gt 50
• Stop
• End

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Exercise

• 3 types of control structures
• Sequential, Repetition, Conditional
• Which one above would work best for the following
  situations -
• Robotic wheelchair executes a left turn.
• Robot wheelchair backs up if it hits the wall.
• Car moves back and forth across crosswalk.

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Programming Environment(Robotics Invention
System 2.0 )

• Graphical language
• High level
• Drag in desired function
• Upload the program to RCX by IR signal

IR Com.
RCX
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Features of RCX software

• Multi-threaded language
• Different parts of the program execute at the
  same time.
• Loops in main program interfere with subprogram.
• Variables limited to 1 or 0
• Use counter as variable.
• Not Quite C (NQC) language allows for more
  variables.

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Programming Environment(Not Quite C )

• C based program
• Allows more variable
• Command list is provided
• Text coding

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What are we going to do today?

• Build your robot.
• inventory
• Plan your project.
• Share your work
• Learn how to build a robot and communicate with
  it

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GearTransmission device

• Angular velocity is the same
• the bigger wheel will run faster
• Smaller wheel will run slower
• The torque and power from the motor is the
  constant
• Smaller wheel will have higher surface force

Tongue10
R110
R21
F2?
F11
F1R1Tongue
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Gear

• No Slip condition
• The tangential velocity is a constant
• WR is a constant
• Wangular velocity
• Rradius

W6
W5
5
10
1105W4 W4? W4W5? W510W65 W6?
W31
W4