Transcript PowerPoint
Microcontroller Robot Design Spring 2003 Advisor : Prof. Hayler Engineering Team: Mark Vo Jing Hua Zhong Abbas Ziadi Have you seen the Terminator? Well, this is the beginning… Introduction The need for intelligence Trends in robotics Features of the Robot Roaming Will roam around until it detects an object. Observing Will observe the object to determine if it is a moving object or not. Avoiding Will avoid objects and walls to prevent crashing. Features of the Robot Following Will follow moving objects. Stopping Will stop at a specified range to the object. Retreating Will turn around an run if it senses that the object is too close. Servo Motors Original unmodified servo motor only rotate 60 degree non-continuous rotation. Modification allows for 360 degree continuous rotation. Removing the “stop” on the drive gear and disengaging of the drive gear from the feedback potentiometer. Block Diagram IR Sensors 1 IR Sensors 2 68HC11 Motor 1 Motor 2 Block Diagram Detailed Schematic H-Bridge circuit for head movement. H Bridge Motor Controller Schematic Main Power circuit Program/Flow Chart Programming/Concepts Assembly Language Programming Assembly and C Global Variables Access of variables Modular subroutines Subroutines can be used by other subroutines Programming/Concepts Free Running Counters Use of Interrupts Motor control PWM generation Output Compare Output Waveform Analog to Digital Convert sensor signal to digital signal Partial Code TURNA3 JSR BACKUP JSR FORWARD3 JSR BACKWARD2 LDD #$EFFF STD dtime JSR DELAY LDAA #$00 STAAdistance1 STAAdistance2 RTS Specification of the Robot Maximum Velocity of Robot is 0.15 m/s. Robot consumes about 2650 mA/hr. Last approximately 40 minutes on a fully charged battery. Maximum infrared range is 150 cm. Incorrect Infrared readings occur at distances less than 15 cm. Total mass of 4 kg. Application of the Robot Exploration Space Probe Hazardous Area Entertainment Robotic Pet Toy Military Spy Drone Death Machine Development/Troubleshooting Researching various components. Listing features that the robot should have. Designing the robot. Obtaining all the components for the robot. Testing each components. Development/Troubleshoot Integrating all the components Programming Debugging Add features Problems Encountered Power Supply Unstable Power. Components such as IR sensors and motors would not function correctly. Battery voltage was too high. Burning out some components. Program Language Difficult to implement complex features such as tracking. Time consuming in debugging. Problems Encounter Infrared Sensors Limited Range of 1.5 m. Incorrect readings will occur when object is less than 15 cm from the IR detector. 68HC11 Could not use some of its feature due to limited documentation of the board such as booting. Limitations of Robot The robot is unable to see any farther than 1.5 meter due to the IR sensors. It could run into thin upright object such as a leg of a chair due to the placement of the IR Sensors. Reaction to moving object is slow due to the speed of the motors. Budget 68HC11 Microcontroller(1) Servo Motors(2) Infrared Sensors(2) Capacitors, Resistors, etc.. Decks(2) Batteries(2) Screws, nuts, bolts, etc… Misc. Total $120.00 $30.00 $25.00 $2.00 $15.00 $50.00 $5.00 $10.00 $257.00 Timeline 01/13/03-01/29/03 01/20/03-02/09/03 02/10/03 02/23/03 02/25/03-03/17/03 03/19/03-03/28/03 04/10/03-04/15/03 04/17/03-05/14/03 05/17/03-05/29/03 05/30/03 Researching various components for the IR robot. Discussion of the features that robot will have. Designing the Robot. Ordering the basic components for the robot. Receiving the majority of the components of the robot. Testing of the various components of the robots. Re-discussion of the features of the robot and redesigning the robot based on the tests of the components. Integration of the majority of the components into the basic designs of the robot. Programming. Troubleshooting. Basic features of the robot are incorporated. Buggy. Majority of the programming done. Refining the design of the robot. Adding and fixing some features of the robot. Demonstration Conclusion Accomplished the majority of the goals we have set for ourselves. We have encountered numerous problems along the way. The robot can be used as a basis for other projects. Thank You If you are interested, our hardware demonstration will begin in 5 minutes downstairs