Street Soccer Robot

8/2/2019 Street Soccer Robot

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KOLEJ UNIVERSITI TEKNOLOGITUN HUSSEIN ONN

FACULTY OF ELECTRICAL AND

ELECTRONIC ENGINEERING

DEPARTMENT OF MECHATRONICAND ROBOTIC


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STREET SOCCER

ROBOT


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Presented by:

NUR NAZLIAH BINTI ZAINOL

AT 030142

3BTR

Supervisor :En Babul Salam bin KSM Kader IbrahimPanel :Mr. Ir Tatang MulyanaMrs. Rafidah bt Ngadungon


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INTRODUCTION

Soccer robot is the robot that used in

RoboCup tournament.RoboCup is an international effort to establisha set of robot soccer leagues.

There are considerable research interest inthe task of the having one autonomous vehiclefollow another.

How?

What?

The control scheme used is such that it shouldbe easily modifiable, should take care of variouseventualities.

Another aspect which should be looked atcritically is the generation of optimum trajectoriesof motion for the robot, this is essential to reachat the correct position quickly otherwise playingsoccer will not be possible


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OBJECTIVE

To understand the development concept andtesting the program and what we learning beforeand future.

To learn and understand the operation ofmicrocontroller.

To design and build the autonomous robot,design the electronic circuit for microcontroller,motor, sensor and power supply.

To develop more robots development activitiesand to learn more about robots used and functionand for the revolution and future robots.


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PROJECT SCOPE

Design and build the software and hardware.The software that used is PSPICE, OrCAD,MPLAB IDE and SolidWorks.

Design the electric circuit, wiring circuit andmicrocontroller circuit for the robot.

Design the robot mechanical structure withSolidWork software.

This robot hardware constructs with plasticand will build in sets


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APPLICATION

Even the ability to consider coordinatingbehaviors of autonomous agent is a new one,the field is advancing quickly by building upon

pre-existing work in the field of DistributedArtificial Intelligent (DAI).

Particularly good domain for studyingMultiagent System (MAS).

Can be one of the toys for kids.


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LITERATURE REVIEW

Name of robot Yearmade Typemicrocontroller Type actuator Type of sensor Frame body

AIBO 1998 none DC-gearedmotors and

servomotor

CCD color

camera,

thermometric,

infrared sensor

and tactilesensor

Aluminum

plate

MINHO 1998 Computer motor gear-boxes with

encoders

Encoder couple

sensor and

infrared sensors

Aluminum

plate and PVC

plastic


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EIGEN 1997 DebianGNU/Linux

ISA

interface,

DC

solenoid

Camera system

and the omni

direction camera

system

PVC plastic

GDM-robot 1999 Dual Dynamic Maxonmotor,

Piezogyroscope,

infraredAluminum plate


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Attenuator - DC Motor with gearbox

most common and simples of all motors In robotics, the torque needed is high and low revolutions per

minute (rpm)

TYPE OF

ELECTRIC

MOTOR

DC MOTOR WITH GEARBOX SERVO MOTOR STEPPER MOTOR

Description The universal motor.

Used in a myriad of

applications.

Small and powerful motors that

are widely used.

High torque and low revolutions

per minute (rpm)

Is geared DC motors with

positional control feedback.

The shaft of the motor can be

positioned or rotated through a

minimum of 90 degrees.

Used for locomotive,

movement, steering and

positioning control.

Can control using digital

circuits.

A stepper motor's shaft has

permanent magnets attached to

it, together called the rotor.

Can be run in "open-loop"

mode (without feedback of an

encoder or other device).

Cost Moderate Expensive Expensive


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SENSOR

IR sensor

to detect the obstacle and the other agent.

Photosensors [LDR]

to detect the ball.


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MICROCONTROLLER- PIC 16f84A

As the brain of the robot.

8-bit register microcontroller of ReducedInstruction Set Computer (RISC)architecture.

used to control the DC motor andsensor.


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METHODOLOGY

PSM I

PSM II


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Phase 1: Literature reviews on previous works in robot system.To learn the operation of the robot system.To collect and analyze the information of robot that will be used.

To discover the programming that already used in previous system.

To study the PIC 16F84 system that use to control the robot.

Learn and design the mechanical structure with SolidWorks software.

Phase 2: Develop the programming for PIC 16F84 system.Develop the programming using the MPLAB program.Test the programming at the robot system.

Check the error if have a problem and make correction.Phase 3: Develop the real robot.Develop the robot mechanical like the design in SolidWorks.

Develop the circuit for robot.Test the robot which it function like the programming.

Check the error and make correction.

METHODOLOGY


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EXPECTED RESULT

The program to control motor and sensor willsuccessfully tasting with PIC application andcan control the robot.

When sensors detect the ball, motor will movethe robot to the ball and add it into the goal.

The mechanical part that design with

SolidWork will construct with PVC plastic


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CONCLUSION

RoboCup is an international research and

education initiative.Soccer robot is a particularly gooddomain for studying Multiagent System(MAS).


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GANTT CHART

PSM I PSM II


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REFERENCES

[1] Lovine, J (2002). Robots Androids and Animatrons. 2nd edition.McGraw Hill.

[2] Durin, A and Hendler, J (2000). Robots for KidS. Morgan Kaufmann.

[3] Fuller, J.L. (1999). Robotics, Introduction, Programming and Projects.

2nd edition. Prentice Hall.

[4] Birk, A , Caradeschi, S and Tadokoro, Satoshi (2002). RoboCup2001: Robot Soccer World Cup V. Springer.

[5] Balch, T and Parker, L.E. (2002). Robot Teams. A K Peters.

[6] RoboCup. http://www.dsv.su.se/~johank/RoboCup

[7] RoboCup. http://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.html
http://www.dsv.su.se/~johank/RoboCuphttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.dsv.su.se/~johank/RoboCup


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LED TEST


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THANK

YOU

S


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Error

No

Troubleshoot

Start

Identification of title, objectives and scope of project

Literature review

Collect and analyze the data and information

Learning and create

Develop simple program

Debug

Error

Compile

Collect circuit diagram

Motor, microcontroller,sensor, voltage regulator

Implement circuit anddownload

Apply to protoboard andtest

Learn 3D model design

Design each part of robot

Combine all part

Repair the error

Error

YES

No

No

PSM II

YES

YES

Present PSM I


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Develop Select circuit Design

PSM I

Develop program (dcmotor, sensor)

Design circuit(PCPICE)

Design chassis

Compile

Error

Debug

Simulate

Simulate

Error

Troubleshoot

Implement circuit anddownload

Build the design

Error

Troubleshoot

Apply to robot and test

Error

Present PSM II

Check and repair the error

Finish

YES YES

YES

NO

NO

NO


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Activity Weekly Schedule

1 2 3 4 5 6 7 8 9 10 11 12 13 14

1. Identify the project topic,

objective and scope

2. Identify and get the information

about components and part that

need to be used.

3. Discuss with supervisor and do

more research

4. Learn and design 3D model

5. List down the components that

need to buy and identify theelectronics store

6. Construct the JDM

Programmer and learn how to

program

7. Construct the circuit of

microcontroller on the proto

board

8. Learn and write simple

program such as control theLED and transfer the circuit to

protoboard and test it.

9. Prepare for PSM 1 seminar

10. PSM 1 SEMINAR


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No Activity Weekly Schedule

1 2 3 4 5 6 7 8 9 10 11 12 13 14

1 Prepare Documentation Thesis

2 Find The Component

3 Test and Experiment Circuit & Hardware

4 Design PVC Circuit & Soldering Component

5 Upgrade the Documentation Thesis

6 Full Report Thesis check by Supervisor

7 Prepare for Presentation 2

8 Presentation PSM 2

9 Sending full report Thesis

Street Soccer Robot

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Transcript of Street Soccer Robot