Training Robotika

2008
Dasar-dasar Pembuatan Line Following Robot
Prepared by DIVISI RISTEK LEMALISPAL PPNS - ITS

PPNS - ITS

Overview

APA ITU ROBOT? Line Following Robot

Brain Sensors Actuator

Software Hardware Video

What is a Robot? Robot derives from the Czech word robota

forced labor; slavery

Robot Industry Association:
A re-programmable, multi-functional manipulator designed to move material, parts, tools, or specialized devices through variable programmable motions for the performance of a variety of tasks

Working definition:

physical agent that has an intelligent connection between sensors and actuators

Robot world
Static Robot

DUNIA ROBOT
Mobile Robot
Animaloid Robot

Humanoid Robot

Wheeled Mobile Robot

Robot world
Wheeled Mobile Robot

Human and Robot

Human Brain Legs Eye Robot Controller Actuators Sensors

Overview

Line Following Robot

Controller (Brain)
Motors and wheels (Leg)

Platform
(Try to be as interesting possible)

Sensors (Eye)

Motor and Wheel

Line Following Robot

Motors and wheels (Leg)

Motor and Wheel

Line Following Robot

Motor and wheel (Leg) wheel (Leg) and wheel (Leg) Motor and Motor
Motor DC Gear Motor

Wheels
Toy Wheels A portion of PVC ( or any cylindrical) tube wrapped with rubber grip (racquet grip)

Motors Wheels

Motor and Wheel

Line Following Robot

Robots Motion
Castor

Motor

Move to Move to Moving Backward Forward Right Left

Wheel

Motor and Wheel

Line Following Robot

Motor Interfacing
LM324 Relay Transistor etc

Motor and Wheel

Line Following Robot

Lm 324

Interfacing

Vss = Logic Supply = 4.5V to 36V Vs = Motor Driver Supply = Vss to 36V

DRIVER MOTOR

Sensors

Line Following Robot

Sensors (Eye)

Sensors

Line Following Robot

Infra Red

Sensors (Eye)
Infra red Light sensor

Sensors (Eye)
Light source

Sensors (Eye)

Sensors

Line Following Robot

Castor Emitter

Detector
Line

Wheel


9V

Build circuit below

Set the 10K ohm preset for input 2- to middle position.

By tuning the 10K ohm preset for input 2+ will trigger the output2.

In put sensor

Out1 Inp1Inp1+ Vcc Inp2+ Inp2Out2

220 ohm

1 2 3 4 5 6 7

L M 3 2 4

14 13 12 11 10 9 8

Out4 Inp4Inp4+ Gnd Inp3+ Inp3Out3

If input 2+ is tuned to max, led will light on and vice versa when input 2+ is tuned to minimum. If Inp2+ > Inp2- ; out2 will at HIGH state If Inp2+ < Inp2- ;

9V 10K Ohm preset

out2 will at LOW state

Multi turn preset

Normal preset (Cheaper)


9V

Build circuit below

Now, modify your inp2+ with ir sensor as shown below. Out1 Inp1Inp1+ Vcc Inp2+ Inp2Out2 220 ohm 1 2 3 4 5 6 7 L M 3 2 4 14 13 12 11 10 9 8 Out4 Inp4Inp4+ Gnd Inp3+ Inp3Out3 Moving a pierce of paper (any white surface material) on top of the sensor will trigger the output.

9V 10K Ohm preset 3.7K ohm 9V

IR Transmitter

IR Detector

IR Detector

IR Transmitter 9V

Different view Top view Side view

With white line

Without white line

Video

Controller

Line Following Robot

Controller (Brain)

Algorithm

Line Following Robot

Controller (Brain)
Motors and wheels (Leg)

How to integrate all the components together ; the controller, actuator and sensors?

Platform
(Try to be as interesting possible)

Sensors (Eye)

Algorithm

Line Following Robot

Sensors Left or Middle or Right sensor triggered Algorithm process the Inputs / sensors reading Move direction based on algorithm written

Controller

Actuators

Algorithm

Line Following Robot

Algorithm for 3 line sensors

L 0 0 0 1 0

M 0 0 1 0 0

R 0 1 0 0 0

Stop/Error Turn Right

Forward
Turn Left Stop/Error

Algorithm

Line Following Robot

Flow chart for 3 line sensors
Start End

Middle Sensors?

Yes

Moving Forward Turn Left Error

No
Right Sensors?

Yes

Turn Right

Yes
Left Sensors?

No

No

Line Following Robot

Line Following Robot

COMPONENTS Line Sensor Transmitter (IR) X3 Receiver (IR) X3 LM324 X1 10K preset X3 180-220 ohm X3 LED X3 Motor Driver Transistor 9013 relay TOOLS Solder Iron Sucker Wire cutter Multi meter PCB board Screw driver

VIDEO

NOW Show off your creativity!!!

The End