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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