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Sensing First of All Your Robot Would Have To Be Able To Sense Its

The document discusses the essential characteristics of robots and provides examples. It defines robots as machines that can sense their environment, move within an environment, be powered, and have some level of programmed intelligence. It also summarizes Isaac Asimov's Three Laws of Robotics which govern a robot's interaction with humans.

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31 views22 pages

Sensing First of All Your Robot Would Have To Be Able To Sense Its

The document discusses the essential characteristics of robots and provides examples. It defines robots as machines that can sense their environment, move within an environment, be powered, and have some level of programmed intelligence. It also summarizes Isaac Asimov's Three Laws of Robotics which govern a robot's interaction with humans.

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© © All Rights Reserved
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SMP

LECTURE-1
INTRODUCTION TO ROBOTICS:-
AS STRANGE AS IT MIGHT SEEM, THERE REALLY IS NO STANDARD DEFINITION
FOR A ROBOT. HOWEVER, THERE ARE SOME ESSENTIAL CHARACTERISTICS THAT
A ROBOT MUST HAVE AND THIS MIGHT HELP YOU TO DECIDE WHAT IS AND WHAT
IS NOT A ROBOT. IT WILL ALSO HELP YOU TO DECIDE WHAT FEATURES YOU WILL
NEED TO BUILD INTO A MACHINE BEFORE IT CAN COUNT AS A ROBOT.
A ROBOT HAS THESE ESSENTIAL CHARACTERISTICS:
• SENSING FIRST OF ALL YOUR ROBOT WOULD HAVE TO BE ABLE TO SENSE ITS
SURROUNDINGS. IT WOULD DO THIS IN WAYS THAT ARE NOT SIMILAR TO THE
WAY THAT YOU SENSE YOUR SURROUNDINGS. GIVING YOUR ROBOT SENSORS:
LIGHT SENSORS (EYES), TOUCH AND PRESSURE SENSORS (HANDS), 
CHEMICAL SENSORS (NOSE), HEARING AND SONAR SENSORS (EARS), AND 
TASTE SENSORS (TONGUE) WILL GIVE YOUR ROBOT AWARENESS OF ITS
ENVIRONMENT.
• Movement A robot needs to be able to move around its environment.
Whether rolling on wheels, walking on legs or propelling by thrusters a robot
needs to be able to move. To count as a robot either the whole robot moves,
like the Sojourner or just parts of the robot moves, like the Canada Arm.
• Energy A robot needs to be able to power itself. A robot might be solar
powered, electrically powered, battery powered. The way your robot gets its
energy will depend on what your robot needs to do.
• Intelligence A robot needs some kind of "smarts." This is where
programming enters the pictures. A programmer is the person who gives the
robot its 'smarts.' The robot will have to have some way to receive the
program so that it knows what it is to do.
ISAAC ASIMOV'S "THREE LAWS OF ROBOTICS”:-

1.A ROBOT MAY NOT INJURE A HUMAN BEING OR,


THROUGH INACTION, ALLOW A HUMAN BEING TO COME TO
HARM.

2.A ROBOT MUST OBEY ORDERS GIVEN IT BY HUMAN


BEINGS EXCEPT WHERE SUCH ORDERS WOULD CONFLICT
WITH THE FIRST LAW.

3.A ROBOT MUST PROTECT ITS OWN EXISTENCE AS LONG


AS SUCH PROTECTION DOES NOT CONFLICT WITH THE
FIRST OR SECOND LAW.
MODULING
DIGITAL VS ANALOG
WHAT IS PWM?
• Pulse width modulation (PWM) is a fancy term for describing a type of digital signal.

• This is for an 8bit resolution.


1.Voltage Regulator-IC 7805
 A voltage regulator is (78XX):-Family of voltage
regulators.
designed to automatically
XX is the output voltage i.e 5
maintain a constant volts for 7805.
voltage level. We also have 7812 in which
output is 12V.

Max input for


7805 is around
12V.
Voltage Regulator Circuit
2.POTENTIOMETER:
A potentiometer, informally
a pot, is a three-terminal
resistor with a sliding or
rotating contact that forms
an adjustable voltage
divider.

Moving the knob is like moving the point where the arrow taps the voltage on the resistor
1.Thermisto
r
Circuit Diagram

Voltage Divider
Circuit
Code for using thermistor

1.#define SERIESRESISTOR 10000


2.// What pin to connect the sensor to
3.#define THERMISTORPIN A0
4.void setup(void)
5.{
6.Serial.begin(9600);
7.}
8.void loop(void) {
9.float reading;
10.reading = analogRead(THERMISTORPIN);
11.Serial.print("Analog reading ");
12.Serial.println(reading);
13.// convert the value to resistance
14.reading = (1023 / reading) - 1; // (1023/ADC - 1)
15.reading = SERIESRESISTOR / reading; // 10K / (1023/ADC - 1)
16.Serial.print("Thermistor resistance ");
17.Serial.println(reading);
18.delay(1000);
19.}
3.LDR-LIGHT DEPENDENT
RESISTOR
Its simply a resistor whose
resistance value depends on the
magnitude of the light intensity
which is shined upon it.

The same voltage divider circuit


is used to measure the resistance
value of the LDR.
LDR CODE
int sensorPin = A0; // select the input pin for LDR
int sensorValue = 0; // variable to store the value coming from the sensor
void setup()
{
Serial.begin(9600); //sets serial port for communication
}
void loop()
{
sensorValue = analogRead(sensorPin); // read the value from the sensor
Serial.println(sensorValue); //prints the values coming from the sensor on the screen
delay(100);
}
4.DPDT
PUSH What is a Double Pole Double Switch
BUTTON (DPDT) Switch?

A Double Pole Double Throw (DPDT) switch is


a switch that has 2 inputs and 4 outputs; each
input has 2 corresponding outputs that it can
connect to. For controlling motors manually
without using micro-controllers.
5.ULTRASOUND SENSOR HC-SR04
const int trigPin = 9;
const int echoPin = 10;
// defines variables
long duration;
int distance;
void setup() {
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); // Starts the serial communication
}
void loop() {
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
}
6.FLEX SENSOR Circuit for measuring resistance

Used in making glove for robotic arm

A flex sensor or bend sensor is a 


sensor that measures the amount of 
deflection or bending. Usually, the
sensor is stuck to the surface, and
resistance of sensor element is varied by
bending the surface. 
7.IR SENSOR An IR sensor is a device which detects IR radiation falling
on it. There are numerous types of IR sensors that are built
and can be built depending on the application.
Proximity sensors (Used in Touch Screen phones and Edge
Avoiding Robots), contrast sensors (Used in Line Following
Robots) and obstruction counters/sensors (Used for
counting goods and in Burglar Alarms) are some examples,
which use IR s.
IR CODE
void setup()
{
Serial.begin(9600); //To initiate serial communication between arduino and computer.
pinMode(A0,INPUT); //Using A0 pin as input pin
}

void loop()
{
int sensor; //variable declaration
sensor=digitalRead(A0);//storing value of sensor value in variable
Serial.println(sensor);//Printing sensor value on serial monitor
}
8.ACCELEROMETER The ADXL335 is a triple axis
accelerometer with extremely low noise
and power consumption - only 320uA.
The sensor has a full sensing range of +/-
3gThe ADXL3xx outputs the acceleration
on each axis as an analog voltage
between 0 and 5 volts.
To read this, all you need is the
analogRead() function. Please, be aware
that some accelerometers use 3.3V power
supply
and might be damaged by 5V. Check the
supplier's documentation to find out
which is the correct voltage.
ACCELEROMETER CODE
int xpin = A0; // x-axis of the accelerometer
int ypin = A1; // y-axis
int zpin = A2; // z-axis (only on 3-axis models)
void setup()
{
// initialize the serial communications:
Serial.begin(9600);
}
void loop()
{
// print the sensor values:
Serial.print(analogRead(xpin));
// print a tab between values:
Serial.print("\t");
Serial.print(analogRead(ypin));
// print a tab between values:
Serial.print("\t");
Serial.print(analogRead(zpin));
Serial.println();
// delay before next reading:
delay(100);
}

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