Sensor based motion control of mobile car robot
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Transcript of Sensor based motion control of mobile car robot
Presented by
P. HYNDAVI
11RG1A0235
SENSOR BASED MOTION CONTROL
OFMOBILE CAR ROBOT
It contains different modules
Object detection and angle determination in the path using IR sensor.
SMS protocol (F-Bus) development.
Design of RF circuits for data transfer.
"A reprogrammable, multifunctional manipulatordesigned to move material, parts, tools, orspecialized devices through various programmedmotions for the performance of a variety of tasks"
What is a robot?
Role of Robotics in Industrial standards
Mostly automatic manipulation of rigid parts with well-know shape in a specially prepared environment.
In Medical
Mostly semi-automatic manipulation of deformable objects in a naturally created, space limited environment.
Robot Manipulators
Mobile Robots
Walking Robots
Humanoid Robots
Different types of ROBOTICS
Sensor-Driven Robot Control• To accurately achieve a task in an
intelligent environment, a robot has
to be able to react dynamically to
changes ion its surrounding
Robots need sensors to perceive the
environment
Most robots use a set of different
sensors
• Different sensors serve different purposes
Information from sensors has to be
integrated into the control of the robot
Robot Sensors• Proximity sensors are used to measure the distance or
location of objects in the environment. This can then be used to determine the location of the robot.– Infrared sensors determine the distance to an object by measuring
the amount of infrared light the object reflects back to the robot
– Ultrasonic sensors (sonars) measure the time that an ultrasonic signal takes until it returns to the robot
– Laser range finders determine distance by measuring either the time it takes for a laser beam to be reflected back to the robot or by measuring where the laser hits the object
Robot Sensors
• Computer Vision provides robots with the capability to passively observe the environment– Stereo vision systems provide complete location
information using triangulation
– However, computer vision is very complex• Correspondence problem makes stereo vision even more
difficult
Ways of connecting of mobile car robot
Robot Vs Human Human advantages:
Intelligence
Flexibility
Adaptability
Skill
Can Learn
Can Estimate
Robot Advantages:
StrengthAccuracySpeedDoes‘nt get tiredDoes repetitive tasksCan Measure
SMS based remote control system
BLOCK DIAGRAM
Nokia 3310 phone has F-Bus connection that can be used to connect the phone to a microcontroller.
TRIAC CIRCUIT
The device is driven by a triac circuit that acts as solid staterelay . The triac circuit is driven by DC voltage input andtypically 10 mA of current , which the microcontroller canprovide very easily . Thus turning on/off can be accomplished bygiving a logic high/low to the input of triac circuit
Design of RF circuits for data transfer
Radio is a device that wirelessly transmit or receive signals in the radio frequency (RF) part of the electromagnetic spectrum to facilitate the transfer of information. The front-end of a radio is comprised of transmitter and receiver. Cellular/mobile radio communications, WLAN, etc.,
Components involved in designing RF circuits:
Low Noise AmplifiersMixersClock generatorsPower AmplifiersAntennaDuplexerOnchip passive components (Inductor, Capacitor and transformer)
Example for RF circuit
ANY
QUERIES?