Robotics part-1

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TECHVILL
A
www.techvilla.org.in

ROBOTICS
HISTORY,EVOLUTION,PRESENT USE AND FUTURE SCOPE

ROBOTS
• Robota (Czech) = A worker of forced labor
From Czech playwright Karel Capek's 1921 play “R.U.R” (“Rossum's
Universal Robots”)
• Japanese Industrial Robot Association (JIRA) :
“A device with degrees of freedom that can be controlled.”
•Class 1 : Manual handling device
•Class 2 : Fixed sequence robot
•Class 3 : Variable sequence robot
•Class 4 : Playback robot
•Class 5 : Numerical control robot
•Class 6 : Intelligent robot

HISTORY OF ROBOTS
In Mythology:
• Many ancient mythologies included artificial people, such as the talking
mechanical handmaidens built by the Greek god Hephaestus out of gold.
• Chinese legend relates that in the 10th century BC, Yan Shi made an
automaton resembling a human in an account from the Lie Zi text.
• The Indian Lokapannatti (11th/12th century) tells the story of King Ajatasatru of
Magadha who gathered the Buddhas relics and hid them in an underground
stupa.The Buddhas relics were protected by mechanical robots (bhuta vahana
yanta), from the kingdom of Roma visaya; until they were disarmed by King
Ashoka

ROBOTS IN MODERN AGE
• Science fiction writer Isaac Asimov first used the word "robotics" to describe
the technology of robots and predicted the rise of a powerful robot industry.
• The first “programmable” mechanism, a paint-sprayer, was designed by
Willard Pollard and Harold Roselund for the DeVilbiss Company. (US Patent
No. 2,286,571)
• Ichiro Kato created WABOT I which was the first full-scale anthropomorphic
robot in the world. It had a system for controlling limbs, vision, and
conversation! It was estimated that it had the mental ability of a 18 month old
child.

ROBOTS
 Robot Manipulators
 Mobile Robots

ROBOTS
 Walking Robots
 Humanoid Robots

AUTONOMOUS ROBOTS
• The control of autonomous robots involves a
number of subtasks
• Understanding and modeling of the mechanism
• Kinematics, Dynamics, and Odometry
• Reliable control of the actuators
• Closed-loop control
• Generation of task-specific motions
• Path planning
• Integration of sensors
• Selection and interfacing of various types of sensors
• Coping with noise and uncertainty
• Filtering of sensor noise and actuator uncertainty
• Creation of flexible control policies
• Control has to deal with new situations

WHAT IS A ROBOT?
• A robot is a device that is made to independently perform actions and
interact with its surroundings.

FEATURES A ROBOT MUST HAVE.
• Movement: A robot must be able to make some movement with the help of
some actuators or some other mechanism. We must be able to reliably place
the robot anywhere we want.
• Sensing: The robot must be able to perceive its environment through sensors
locate obstacles to avoid, and objects of interest that we want it to interact
with.
• Plan/Act: The robot must be able to make decisions using its processor
based on it’s sensors and feed them to it’s actuators to be able to move.

TYPES OF ROBOTS
BY APPLICATION
• Industrial robots.
• Household robots.
• Medical robots.
• Service robots.
• Millitary robots.

BASIC COMPONENTS OF A ROBOT
• Sensors.
• Microcontroller.
• Actuators.
• Motors.
• Power supply.

SENSORS
• Sensors are devices that take non-electrical or electrical values as
their input and convert them into a form that is understood by
computers. For eg. Lm35 temperature sensor gives analog electrical
signals corresponding to its surrounding temperature.

MICROCONTROLLER
• Microcontrollers are programmable IC’s which have peripherals like
timers,eeprom,flash memory,cpu,clock generator,ram,rom,A/D
convertor.
• Eg Atmega32/16/8,at89s52,lpc2148,pic18fxx

ACTUATORS
• Hardware devices that convert a controller command signal into a
change in a physical parameter
• The change is usually mechanical (e.g., position or velocity)
• An actuator is also a transducer because it changes one type of
physical quantity into some alternative form
• An actuator is usually activated by a low-level command signal, so an
amplifier may be required to provide sufficient power to drive the
actuator www.techvilla.org.in

DC MOTORS
• The most common actuator in mobile robotics
• simple, cheap, and easy to use.
• come in a great variety of sizes, to
accommodate different robots and tasks.

PRINCIPLES OF OPERATION
• DC motors convert electrical into mechanical energy.
• They consist of permanent magnets and
loops of wire inside.
• When current is applied, the wire loops
generate a magnetic field, which reacts
against the outside field of the static magnets.
• The interaction of the fields produces the
movement of the shaft/armature.
• Thus, electromagnetic energy becomes
motion.

THE BASIC IDEA
• A motor uses magnets to create motion.
• The fundamental law of all magnets: Opposites
attract and likes repel.
• Inside an electric motor, these attracting and
repelling forces create rotational motion.

POWER SUPPLY SYSTEM

EMBEDDED SYSTEMS
• Introduction to embedded systems.
• Embedded systems vs general purpose computer.
• Key components of an embedded systems.
• Applications of embedded systems.

INTRODUCTION
• An embedded system is a combination of computer hardware and
software, which is designed to handle specific tasks. For example
automatic washing machine

EMBEDDED SYSTEMS VS. GENERAL
PURPOSE COMPUTER
• A general purpose system can be used for many things, whereas an
embedded system is only meant for one purpose.
• The defining feature of a general purpose computer is that it can be
reconfigured for a new purpose.
• All general purpose computers are embedded systems but all
embedded systems are not general purpose.

KEY COMPONENTS OF AN EMBEDDED
SYSTEM
• Hardware:
• Microcontroller.
• Application software.
• Buses
• Embedded operating systems(in more sophisticated systems)

MICROCONTROLLER – SINGLE CHIP
COMPUTER
• Single chip with memory and all input/output peripherals on it. Usually it has
following features:
• Arithmetic logic unit.
• Program Memory.
• EEPROM for storing nonvolatile data storage.
• RAM for storing variables and special function registers.
• Timers and counters.
• Analog to digital converters.
• Serial communication port.

MICROCONTROLLER – ARCHITECTURE

AVR Microcontroller
AVR stand for?
Advanced Virtual RISC,
the founders are Alf Egil Bogen Vegard Wollan RISC
AVR architecture was conceived by two students at Norwegian Institute of
Technology (NTH)[1] and further refined and developed at Atmel Norway,
the Atmel company founded by the two chip architects.
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AVR Microcontroller
AVR Micro controllers is Family of
RISC Microcontrollers from Atmel.
There are multiple architectures
RISC (Reduced Instruction Set Computer)
CISC (Complex Instruction Set Computer)

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RISC Microcontroller
Reduced Introduction Set Computer
Till 1980 Trend was to build increasingly complex
CPUs with complex set of instructions like (CISC)
(RISC)
Instruction execute in single cycle
“Architecture which reduces the chip complexity by
simpler processing instructions”.
RISC architecture CPUs capable of executing only a very limited
(simple) set of instructions.

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RISC Microcontroller
Reduced Instruction Set Computers Advantages
• Fast Execution of Instructions due to simple instructions
for CPU.
• RISC chips require fewer transistors, which makes them
cheaper to design and produce.
• Emphasis on software
• Single-clock,reduced instruction only
• Register to register: “LOAD" and "STORE“
are independent instructions
• Spends more transistors on memory registers

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The AVR is a Harvard architecture CPU.
Harvard Architecture
Computer architectures that used physically
separate storage and signal pathways for their instructions
and data.
CPU can read both an instruction and data from
memory at the same time that makes it faster.
von Neumann architecture
CPU can Read an instruction or data from/to the memory.
Read, Write can`t occur at the same time due to same memory
and signal pathway for data and instructions.
AVR Microcontroller

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Harvard Architecture
AVR Microcontroller
Harvard Architecture diagram

SOFTWARE TOOLS FOR AVR
• Installing WINAVR.
• Installing AVRSTUDIO.
• Using AVRSTUDIO to write codes for avr.
• Burning hex code in the microcontroller

INSTALLING WINAVR
• Install the WINAVR software provided to you.
• The editor for writing code is “PROGRAMMER’S NOTEPAD” and
“MFILE” is the makefile.
• Winavr includes avr-gcc (compiler), avrdude (programmer), avr-gdb
(debugger), and more.

INSTALLING AVR-STUDIO
• AVR studio is an Integrated Development Environment (IDE) by
ATMEL for developing applications based on 8-bit AVR Microcontroller.
• Installation of Winavr is necessary before installing avr studio.
• Go to http://www.atmel.com/microsite/atmel_studio6/ and register for
the download of installer file.
• Click on download link from the atmel-e-mail in your email-id provided
during registration.

• Download the atmel studio software.
• After download is completed, Double click on the installer file to start
installation
• Click on the install option.
• If you already have Visual Studio 2010 installed then it won’t re-install.

NOW TO INSTALL ATMEL USB DRIVER
CLICK NEXT

CHECK ALWAYS TRUST SOFTWARE FROM
“JUNGO LTD” OPTION AND CLICK INSTALL

CLICK FINISH

CLICK NEXT TO PROCEED

ACCEPT THE TERMS AND CONDITIONS AND
CLICK NEXT

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Robotics part-1

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