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ELECTRONICS-PROGRAMMING-ROBOTICS

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Course Overview

▪ Week 1 – Electronics
▪ Week 2 – Programming
▪ Week 3 – Arduino
▪ Week 4 – Robotics

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 Tutorial 1

Introduction to robotics

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Focus
● What is a robot
● Robot characteristics
● Robotic laws
● Basic parts of a robot
● Classification of robots
● Types of robot control
● Robot drives and control mechanism
● Types of drives
● Using the motor driver

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 What is a robot?

• Word robot was coined by a Czech novelist Karel Capek in a

1920 play titled Rossum’s Universal Robots (RUR)
• Robota is a Czech word meaning worker or servant
• A robot is a reprogrammable, multifunctional manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of a
variety of tasks: Robot Institute of America, 1979

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Characteristics of Robots
● Sensing: A robot must be able to sense its surroundings just in the same manner as
the human beings sense theirs. Light sensors, chemical sensors, sonar sensors all
give the robot awareness to its environment.
● Movement: this is one of the most important characteristic. In order for a robot to
work in its environment, it needs to move. A robot may move using legs or wheels
or it may be fixed with only some parts moving to direct the end effector to where it
is needed.

Gas sensor Temperature sensor

Pressure sensor BRUTE FORCE
Characteristics of Robots
● Intelligence: A robot, must be able to work smartly as directed by the
programmer. The sensor gives environmental information then the robot
makes smart decisions through the controller.
● Energy: A robot must be able to power itself. It may be through solar,
electricity or through a battery.

Power supply BRUTE FORCE

3 Laws of Robotics
● Asimov proposed three “Laws of
Robotics”
● Law 1: A robot may not injure a
human being or through inaction,
allow a human being to come to
harm
● Law 2: A robot must obey orders
given to it by human beings,
except where such orders would
conflict with a higher order law
● Law 3: A robot must protect its
own existence as long as such
protection does not conflict with a
higher order law.
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Basic Parts of a robot
1. Sensors: Robot sensors: measure robot configuration/condition and its
environment and send such information to robot controller as electronic
signals (e.g., arm position, presence of toxic gas)

IR sensor
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Basic Parts of a robot

Controller: This is the brain of the robot. Provide the necessary intelligence to
control the manipulator/mobile robot. Process the sensory information and
compute the control commands for the actuators to carry out specified tasks.

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Basic Parts of a robot
● Robot mechanical elements: These enable the robot to move in the
ways needed.

Slider-Crank

Chain and sprocket Gear, rack, pinion, etc

Basic Parts of a robot
● Actuators: An actuator is a device that converts energy into physical motion,
and most actuators produce rotary or linear motion. Actuators can be
hydraulic, electrical, or pneumatic.
Pneumatic Motor

Stepper Motor Pneumatic motor

Hydraulic Motor Pneumatic sensor
Basic Classification

● Control System (PTP, CP)

● Movement (Fixed, mobile, legged)
● Types of Drives (P, H, E)
● Application (Manufacturing, Handling,
Testing)
● Degrees of freedom (1, 2,3)
● Physical configuration

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Types of robot control
● Point to point (PTP)
● Continuous-path (CP)
● Controlled-path robot
● Stop-to-stop

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Point to point control
The PTP robot is capable of moving from
one point to another point with locations
recorded in the control memory. They do
not control the path to get to the next
point.

Applications include:
● Component insertion
● Spot welding
● Loading and unloading robots
● Assembly operations
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Continuous path control robot
Capable of performing movements along a
controlled path. The robot can stop at any
point along the controlled path. All the
points along the path must be stored
explicitly in the robot’s control memory.
This path can be a curve or a straight line,
as defined by the programmer.

Applications include:
• Spray painting
• Gluing
• Arc welding
Controlled path robot
● In controlled-path robots, the control equipment can generate paths of
different geometry such as straight lines, circles and interpolated curves
with a high degree of accuracy.
● Only the start and finish points and the path definition function must be
stored in the robot’s control memory

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Stop-to-stop robot
● It is an open-loop system
● Both position and velocity are unknown to the controller
● On/off commands are stored as valve states
● End travel is set mechanically

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Using the motor driver
● In this practical, we shall learn about the motion and direction of a
wheeled robot, using an Arduino controller.

Materials:
● Arduino Uno
● Motor driver
● Power supply
● DC motors

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How control a motor
● Speed of a motor is directly proportional to supply voltage
● Speed of a motor is inversely proportional to armature voltage drop
● Speed of the motor is inversely proportional to the flux due to the field
findings

Speed control:
● Varying the supply voltage
● Varying the flux and varying the current through field windings
● Varying the armature voltage and armature resistance

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The L298N Motor Driver

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The L298N Motor Driver
This dual bidirectional motor driver, is based on the very popular L298 Dual H-Bridge
Motor Driver Integrated Circuit. The circuit will allow you to easily and independently
control two motors of up to 2A each in both directions. It is ideal for robotic
applications and well suited for connection to a microcontroller requiring just a couple
of control lines per motor. It can also be interfaced with simple manual switches, TTL
logic gates, relays, etc. This board is equipped with power LED indicators, an onboard
+5V regulator, and protection diodes.

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Arduino and L298L Connections
.

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Connections
.ARDUINO MOTOR DRIVER

9 ENABLE1

11 IN1

10 IN2

6 ENABLE2

4 IN3

3 IN4

GND GND

+9V POWER
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Turning on motors using motor driver

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THANK YOU ARDUINO GEEKS!

IGNITING CREATIVITY - LEARN BY DOING