Robotics Workshop

GROUP- Chaitanya, Anwita, Samvit©, Netra

GROUP NAME- Red Sox

What is robotics?.....................

●​ Robotics is a branch of engineering and computer science that involves the

conception, design, manufacture and operation of robots.
●​ Father of Robotics- Joseph Engelberger (Columbia University)
●​ Study and appli.ion of robot technology

.What is a robot?.......................

●​ A robot is a machine—especially one programmable by a computer—capable of

carrying out a complex series of actions. It is from the word “slave or servitude”
●​ First robot was an industrial robot called Unimate made by George Devol in 1954.
Used in 1961 New Jersey for a motor assembly line. Company name was
“Unimation”
●​ Mechanical device that performs human tasks, either automatically or by remote
control.
●​ A robot is any moving object that can be programmed to
-Perform Tasks
-Gather info from surroundings
It works from a central microprocessor that controls their movements, they also have
sensors for examining the environment & power sources.

MANUAL AUTOMATIC

Robots that work by remote control under Robots that can work almost entirely
individual commands independently and require only a few
preset commands.
..INFO ABOUT ROBOTICS (ESSENTIAL)...........
HUMANS ROBOTS

Personal Intelligence Artificial Intelligence

●​ A programmable or non programmable multifunctional manipulator designed to

move materials, parts, tools or specialized devices through various motions for
the performance of a variety of Tasks.

●​ Issac Asimov invented the three laws of robotics in 1930-

-​ A robot may not harm a human through action or inaction allowing a
human to come to harm.
-​ A robot must obey the orders given by human beings, except when such
orders conflict with the First law.
-​ A robot must protect its own existence as long as it does not conflict with
the First or Second Law.

Sense Think Act

Distance, Magnetic Field, Task planning, Classifi.ion, Output Info, Movement,

Sound, Speech, Vision, Learn, Process data, Path Speech, Text, Visual,
Light, planning, Motion Wheels, Legs, Arms,
Acceleration,Temperature, planning. Tracks
Position, Chemicals,
Resistance, Proximity to
object.

●​ Types of Robots-
-​ Industrial Robots- material handling, welding, inspection, improving
productivity, lab appli.ions.
-​ Mobile Robots- Robots that can move around using legs, tracks or wheels. Eg. In
1979, a nuclear accident in the USA caused a leak of radioactive material and led
to the production of special robots which could handle radioactive material.
-​ Edu.ional Robots- Robotic kits are used extensively in edu.ion. Eg. Robolab
 -​ Domestic Robots- Programmed to do things like talking, walking, dancing etc. It
is designed to perform:
1.​ Household tasks
2.​ Modern toys

●​ Robot Components

Manipulator Main body of the robot (links, joints, other structural element of the
robot)

End Effector The part that is connected to the last joint hand of a manipulator

Actuators Muscles of the manipulator which provide the power for the
movement purpose in the robot. (servomotor, stepper motor, dc
motor, bo motor, pneumatic and hydraulic cylinder)

Sensors To collect information about the internal state of the robot or to

communi.e with the outside environment. They are the core of the
robots that alerts them.

(Measures a physical quantity and converts it into a signal which can

be read by an observer or by an instrument) Eg. SONAR

Controller Similar to cerebellum. It controls and coordinates the motion of the

actuators. Eg. Arduino Uno

Software Operating system, robotic software and the collection of routines

●​ End Effectors-
-​ In robotics, an end effectors is the device at the end of the robotic arm, designed
to interact with the environment
-​ End effectors may consist of a gripper or a tool. The gripper can be of two, three
or even five fingers.

CONTROLLER PROCESSOR

Consists of CPU, Memory and I/O all Consists only of CPU.

integrated in one chip.

https://www.shiksha.com/online-courses/articles/difference-between-microprocessor-
and-microcontroller/
..ARDUINO UNO.....................
●​ Arduino Uno has 14 digital pins and 6 analog pins (which can accept values from
A0 to A5).
●​ It contains a microcontroller called Atmega 328p.
●​ It can operate at 7-12 volts.
●​ 0 digital pin works RX receiver.
●​ The 1st pin is a TX transmitter.

..ULTRASONIC SENSOR.................
An ultrasonic sensor is a device that can measure the distance of an object by using
sound waves. It measures distance by sending out a sound wave at a specific frequency
and waits for that sound wave to bounce back. By recording the time taken between the
sound wave being generated & the sound wave bouncing back, it is possible to calculate
the distance between the sensor and the object. Eg. HC-SR04.
-​ Each ultrasonic sensor has a GND and a VCC- 5v (most operated 3.5-5v)
-​ Echo pin is used to calculate the distance
-​ Sound waves are generated when trigger is pressed
 HC-SR04.

....ESP8266/ NODEMCU.................
●​ Has 1 analog pin.
●​ Has 9 digital pins.
●​ Master Output Slave Input (MOSI)- Transmits data to subnode from main.
●​ Master Input Slave Output (MISO)- Transmits data from subnode to main.
●​ RST- Reset Pin (Most important Least Used) : Re-executes the command.
●​ Used to give any microcontroller access to your WiFi network.

Robot
—-------> Electronics
—-------> Mechanical <- - - - Program
—-------> Computer

EN (End Effector)—-------> Sensor —------->Controller

●​ Programming gives commands to the entire machine/ device. It plays the role of
the brain in machines.
.ARDUINO IDE......................

●​ Void- data type

 ●​ Set up- Name of your function
●​ There are 2 functions: Setup and
●​ Loop- Name of ur function
●​ Code must be compiled and verified.
●​ Verify is the tick mark button.
●​ Debugging console (black box where errors and updates will be seen).
●​ Parentheses perform the job of defining.

●​ The basic structure of the Arduino Programming Language is fairly simple & runs
in at least 2 parts. These 2 required parts or functions, enclose blocks of
statement

-​ Void setup () }
//set up motors,sensors etc
{

-​ void loop () }
//get info from sensors,send commands to motors
{

.Declaring a Variable....................

int led1 =13;

Int- Type
Led- Variable name
1- Assignment “becomes”
= - Pin Value
..Setup.........................

●​ The setup section is used for assigning input and outputs (Examples: motors,
LEDs, sensors etc) to put on the Arduino
●​ It also specifies whether the device is OUTPUT or INPUT.
●​ To do this we use the command “pinMode”

Void setup ()
{
pinMode (D1, OUTPUT)
;
}

D1- pin #
OUTPUT- can be input or output.

1000ms = 1 secs

https://www.instructables.com/Steps-to-Setup-Arduino-IDE-for-NODEMCU-ES
P8266-WiF/https://www.instructables.com/Steps-to-Setup-Arduino-IDE-for-N
ODEMCU-ESP8266-WiF/

..LOOPS...................…. . .

Void loop() {

digitalWrite(D1, HIGH);
delay(1000);
digitalWrite(D1, LOW);
delay(1000);
}

Delay- Wait for 1 second or 1000ms

D1- Port # from set up
D1- Turn the LED on or off.
IR- Infrared
PCB- Printed Circuit Board
T- Transmitter
R- Receiver
LED- Light emitting diode (3-12 volts)

bool T;
void setup () {
pinMode (D1,INPUT)
pinMode (D2,OUTPUT)
}
void loop ()
{T = digitalRead (D1);
if (T==HIGH)
{digitalWrite(D2,HIGH);}
if (T==LOW)
{digitalWrite(D2,LOW);}}

●​ IC (Integrated Circuit) number on motor driver- L293D

●​ Motor driver is controlled by ESP8266
●​ Motor driver can control only 2 pins
●​ Motor driver has 4 input pins 2 for each motor.
●​ H- High L- Low
●​ Straight AA (H) BB (L)
●​ Right AA (HL) BB (LH)
●​ Left AA (LH) BB (HL)
●​ Back AA (L) BB (H)
●​ And Gate multiplies
●​ Not Gate turns it into the opposite.

. TEST OVER.....……………
 Line Follower Algorithm

●​ Try not to make a curved helm.

●​ Ensure balanced weight and good weight distribution.
●​ Ensure to optimize time.
●​ PID: proportional–integral–derivative controller (to ensure no unrequired
rotation of wheels)