Post on 18-May-2015
www.robotix.in
Third Fresher’s Workshop
Third Fresher’s Workshop
www.robotix.in
Basic Parts Of A Mobile Robot
Locomotion system Power supply system Actuators Sensory devices for feedback Sensor Data processing unit Control system
www.robotix.in
PotentiometerPotentiometer
www.robotix.in
CapacitorsCapacitors
www.robotix.in
IR LED
www.robotix.in
LED: an inner view
www.robotix.in
Diode
www.robotix.in
Current Flow in a Diode
www.robotix.in
Multimeter
www.robotix.in
POWER SUPPLY (RECTIFIER CIRCUIT)
www.robotix.in
IC7805/ IC7812
1 - Input 2 - Ground 3 - Output
www.robotix.in
THE RECTIFIER CIRCUIT
www.robotix.in
USES OF RECTIFIER CIRCUIT
To convert Alternating Current to Direct Current.
We get Alternating Current as Power Supply in our homes, but electronic components in robots use Direct Current.
www.robotix.in
STEPS OF CONVERTING AC TO DC
First the Transformer, converts 220V AC to 12V AC.
The Diodes rectify the current in a single direction.
The Capacitor then normalizes the current.
The little distortions are further rectified by the IC7805.
www.robotix.in
End Actuators
They convert the electrical energy into meaningful mechanical work
Mechanical output can be rotational or linear (straight line)
Motors provide rotational motion Electromagnets provide linear motion
www.robotix.in
Motors are of various kinds
AC Motors : Not used much in robotics Stepper Motors : For controlled rotation DC Motors : Finds extensive general use Servo Motors : DC motor with in built feedback
& error compensation
www.robotix.in
DC Motors
As the name suggests, a motor which uses a DC (Direct Current) power
Can run in both directions Speed Controllable
www.robotix.in
DC Motor Working
Direction of rotation controlled by polarity of current / voltage
Speed of rotation controlled by average energy (power) fed to the motor
www.robotix.in
DC Motor Specifications
Operating Voltage : Recommended voltage for powering the motor
Operating Current : Current drawn at a certain load on the shaft
Stall Current : Maximum current drawn, when motor not allowed to rotate
Stall Torque : Rotation force needed to hold the motor in stall condition
www.robotix.in
DC Motor Characteristics
Free running torque & current are ideally zero Increased load implies, increased torque, current
drawn & power consumption Power supplied by a motor is the product of
output shaft’s rotational velocity & torque DC Motors are high–speed, low-torque devices Using gears, the high speed of the motor is
traded off into torque
www.robotix.in
DC Motor Characteristics
Zero speed at maximum load (stall torque)
Highest speed while free running (zero load)
Highest power at half speed & half load
www.robotix.in
DC Motor Drivers
These are current amplifying circuits A low current control signal is converted into a
proportionally higher current signal that can drive the motor
Power Transistors can switch high currents. The ICmax is usually of the order of Amps as compared to small signal transistors which have ICmax in mA
www.robotix.in
DC Motor Direction Control
H – Bridge Circuit Diagram
S1
S3
S2
S4
M1 2
VCC
www.robotix.in
H – Bridge Working
www.robotix.in
Electronic Direction Control
H – Bridge Circuit Diagram
www.robotix.in
Sensors
Analogous to human sensory organs Eyes, ears, nose, tongue, skin Sensors help the robot knowing its
surroundings better Improves its actions and decision making
ability Provides feedback control
www.robotix.in
LDR - Light Dependent Resistor
Made of cadmium sulphide
Resistance between two terminals vary depending on the intensity of light
Can be used to differentiate contrast colours
www.robotix.in
Comparator
www.robotix.in
Light Sensing Module using LED-LDR combination
Sensor Interfacing
www.robotix.in
Bump Detector Module
www.robotix.in
An Example - Line Follower
A line follower is a robot capable of tracking a line drawn on a surface
Optical sensors capture the line position at the front end of the robot
The robot is steered to keep it always over the line
www.robotix.in
Block Layout of Line Follower
www.robotix.in
Line Following Algorithm
All the sensors are assigned some weight such as
Sensor 1 = a1 = 3Sensor 2 = a2 = 2Sensor 3 = a3 = 1Sensor 4 = a4 = -1Sensor 5 = a5 = -2Sensor 6 = a6 = -3
www.robotix.in
DC Motor Speed Control Circuit
Input is the operating voltage & control signal Output is a part of the operating voltage depending
upon the control signal
www.robotix.in
DC Motor Speed Control Cont…
Controlling the current by passing it through a variable resistor is not advisable as it is extremely energy inefficient
A trick is done to achieve reduced average power
Power is supplied to the motor in short intermittent bursts, as explained further
www.robotix.in
Duty Cycle Fundamentals
www.robotix.in
Duty Cycle Contd…
The time period (τ) is the duration after the voltage waveform repeats itself
Duty Cycle is the % time of τ, the voltage is equal to the operating voltage
The average voltage is equal to the ‘Duty Cycle’ % of the Operating Voltage
www.robotix.in
Pulse Width Modulation
PWM is a technique using which we can modify the duty cycle of a waveform depending upon an input control voltage
This forms the backbone of our speed control circuit
It can be easily implemented using the popular multipurpose IC 555, used widely for hobby electronics
www.robotix.in
L293D – Pin Diagram
THANK YOU