ENGR 100 - Robotics Project

What is a Robot?

1. A Electro-Mechanical system Plus Artificial intelligence

2. Can do certain tasks that human like

Robot ArmHonda Asimo

Robot FishRobot Vacuum

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?v=Q3C5sc8b3xM

http://www.youtube.com/watch?v=eO9oseiCTdk

http://www.youtube.com/watch?v=9vRg64HX5gA

Project Objectives

The goals of this project are to: Basic computer programming.

Experience the design process.

Build a programmable robot.

Tasks

Three different tasks: Robotic Wheelchair, Car, The defender.

Three different programs:Program 1 - Robotic Wheelchair (do first!)Program 2 - CarProgram 3 – Dog/Cat. The defender (be

creative!)

Arena Layout

4 ft

4 ft

1 ft 1ft

2 ft

68”

8 ft

8 1/3 ft

Defender Free Zone

This is the competition!

Scoring for performance grading

ExT

T

Pts

PtsScore )%(25)%(75 min

max

10 pts

10 pts

10 pts 10 pts

Base Pts – At some point before competition day, each team’s 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)

10 pts

Project flow

Know the project goals/requirements.

Learn RCX programming/Gather ideas for robot design.

Build a pathfinder.Test run.Final competition.

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.

Robot Basics -RCX

Command Brick

3 output3input5

programe

Robot Basics - Sensors & Motors

Input/Output PortsTouch sensorsLight sensorMotorsRCX signals

Tips -Use view mode to check light sensor.

Battery power affects speed of motors. Batteries run out fast! Don’t block

infrared sensor.

Robot basics – Programming

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

SequentialSequential statements are defined

as a list of commands that are executed in order.

For example:Set Forward DirectionGo forward for 3 sStop

RepetitionRepetition statements

allow for a series of commands to be repeated for a set number times.

For example:Repeat 3 timesSet forward directionMove forward for 3 sStopEnd Repeat

ConditionalConditional 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.

Example of Conditional StatementsFor example -

If the light is <50% Set Direction ForwardMove Forward for 3 sStop

Else If light is >= 50%Stop

End

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.

Programming Environment(Robotics Invention System 2.0 )

Graphical language

High level Drag in desired

function Upload the

program to RCX by IR signal

RCX

IR Com.

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.

Programming Environment(Not Quite C )

C based program

Allows more variable

Command list is provided

Text coding

What are we going to do today?

1. Build your robot. inventory

2. Plan your project. Share your work

3. Learn how to build a robot and communicate with it~

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

R1=10

R2=1

Tongue=10

F1=1 F2=?F1*R1=Tongue

Gear

No Slip condition The tangential velocity is

a constant W*R is a constant W=angular velocity R=radius

5 10

W1=10

5*10=10*W2

10 5

W3=1

1*10=5*W4 W4=?W4=W5?W5*10=W6*5 W6=?

W5

W4

W6