Embed Size (px)
Citation preview
http://ionaphysics.org/
Introduction to Robotics
Title: Jul 11 12:18 PM (1 of 37)
Some of these are real robots and some are fictional. Can you tell which is which?
Title: Jul 10 8:56 AM (2 of 37)
Real Vacuum cleaner robot
Real Lawn mower robot
Title: Jul 10 8:56 AM (3 of 37)
Real NASA rolling robot
Title: Jul 10 8:56 AM (4 of 37)
http://asimo.honda.com/inside_asimo_movies.asp
AsimoA real robot a project of Honda
Title: Page %d of %d
Simple MachinesLeverPulleyGears
Increase force (but decrease distance)ORIncrease distance (but decrease force)AND/ORChange the direction of the force
Title: Jul 11 1:07 PM (6 of 37)
Solution:Gears
Electrical Motor:
Problem:It turns too fast
Gears slow the motion while increasing the strength
Title: Jul 1 8:56 PM (7 of 37)
Electrical Motor:
With a DC motor, reversing the power connection reverses the direction of rotation of the motor.
Title: Jul 1 9:04 PM (8 of 37)
Our basic robot design:Electric Motor 1. Gears reduce speed and increase strength 2. A reversing switch is engaged when the robotstrikes an obstruction.
Title: Jul 1 9:16 PM (9 of 37)
Systems: Human Robot
Support Skeleton Metal, Plastic frame
Energy Food Electricity (or pneumatic/hydraulic)
Control Brain +nerves Computer + wires
Inputs Eyes/ears/skin Assorted sensors
Outputs Hands,feet Sounds, movement of partsmouth, etc electrical signals
Comparison of Human and Robotic Systems
Title: Jul 10 8:38 AM (10 of 37)
Robot Systems:
The Brain
Input 1 Input 2 Input 3
Output 1 Output 2 Output 3
Title: Jun 12 7:54 PM (11 of 37)
Robot Systems
OutputMovementElectrical MotorsDC MotorsStepper motorServoPneumatic or Hydraulic systemsIndicator LightsIndicator Sounds
Title: Jun 12 7:44 PM (12 of 37)
Input:TouchSwitches (on/off)Analog sensorsSightLight IntensityIR Pulse reflectionObstruction (Reflected light)Distance (Sonar)SoundSound level (microphone)Speech recognition (extreme!)
Title: Jun 12 7:49 PM (13 of 37)
Brain
Computer and Program
Program: A series of instructions. The instructions include provisions for making decisions based upon input variables.
Title: Jun 12 8:01 PM (14 of 37)
Touch Sensor
Use and Programming
Title: Jul 19 9:12 AM (15 of 37)
Robot Systems:
The Brain
Input 1 Input 2 Input 3
Output 1 Output 2 Output 3
Left Motor Right Motor
Right Contact Sw Left Contact Sw
Title: Jun 12 7:54 PM (16 of 37)
Program Pseudo Code:
Start:Advance Both MotorsRight Switch Contact? IF Yes then Turn LeftLeft Switch Contact? If YES then turn RightGo to Start
Turn Left:Back UpAdvance right motor GoTo Start
Turn Right:Back UpAdvance left motorGoToStart
Title: Jun 18 6:53 PM (17 of 37)
Demonstration:BoeBot with whiskers
Title: Jul 14 7:22 PM (18 of 37)
Line Sensor
How it works and Demonstrations
Title: Jul 19 9:13 AM (19 of 37)
Scribbler Robot
Infrared emitters and detectors
Title: Jul 19 8:52 AM (20 of 37)
Demonstration:
1. Turn on
2. Cover LEFT sensor
3. Press and release the reset button.
4. When you hear the beep, IMMEDIATELY uncover the sensor.
5. Place Scribbler on paper. Move it back and forth.
If the right sensor sees the line, the right LED will light up. If the left sensor sees the line, the left LED will light up.If both sensors see the line, both LEDs will light up.
Line Detection
Title: Jul 19 9:02 AM (21 of 37)
Line Following Behavior:
1. While holding your fingers over the LEFT AND RIGHT sensors, press and release the RESET button.
2. Listen for the beep and then immediately uncover the light sensor.
3. The Scribbler will turn from side to side to find the line, and then will follow it.
Title: Jul 19 9:05 AM (22 of 37)
Challenge:
Set up your own path for the robot to follow
Title: Jul 19 9:14 AM (23 of 37)
Object Detection with the Scribbler
Title: Jul 19 4:10 PM (24 of 37)
Infrared light shines from the emitters and is detected by the detector when it reflects off an object.
(Light objects reflect more light and are easier to see.)
Title: Jul 19 4:12 PM (25 of 37)
Instructions:
1. Turn Scribbler on2. Cover the CENTER sensor.3. Push and release the reset button.4. When you hear the tone, IMMEDIATELY uncover the sensor.
If the scribbler sees an object on the right, the right LED turns on.
If the scribbler sees an object on the left, the left LED turns on.
If the scribbler sees an object on both sides (probably in the center) both LEDs turn on.
Title: Jul 19 4:14 PM (26 of 37)
Avoiding Objects While Moving
Title: Jul 19 4:14 PM (27 of 37)
Directions:
1. Turn ON the Scribbler.2. Cover the CENTER and the RIGHT sensors.3. Press and release the Reset button.4. When you hear the tone, IMMEDIATELY uncover the light sensors.
The scribbler will drive around, turning to avoid objects.
Title: Jul 19 4:14 PM (28 of 37)
Follow the Light
Title: Jul 19 4:14 PM (29 of 37)
Directions:1. Turn the Scribbler ON2. Cover the right sensor3. Press and release the RESET button.4. When you hear the tone, IMMEDIATELY uncover the sensor.
The scribbler will drive around the room seeking the brightest light.
Try this in a dark room using a flashlight to guide the scribbler.
Title: Jul 19 4:14 PM (30 of 37)
Challenge:Make the Scribbler draw a box, or a circle, or a flower.
1. Use the Light Seeking behavior2. Place the scribbler on a large piece of paper.3. Place a felt marker in the Scribbler's center hole.4. Guide the scribbler using a flashlight.
Extreme challenge:Make the Scribbler write your name!
Title: Jul 19 4:14 PM (31 of 37)
Sumo Wrestling:
Title: Jul 21 12:08 PM (32 of 37)
Sumo Wrestling:
1. Do not leave the ring
2. Try to push the other guy out of the ring
Title: Jul 21 12:08 PM (33 of 37)
Sumo Wrestling:
1. Do not leave the ring
2. Try to push the other guy out of the ring
Need to detect the edge of the ring.
Need to detect the other guy.
Title: Jul 21 12:08 PM (34 of 37)
Pseudo Code for motion:
Start:At edge of ring? If YES then go to change pathMove straight ahead
Change Direction:Is the edge on both sides? If YES turn around. Then Go to StartIs the edge on your right? If YES turn left. Then go to StartTurn right. Then Go To Start
Title: Jul 21 12:08 PM (35 of 37)
Get Aligned:Do you see opponent dead ahead? If YES then attack.Do you see opponent on right? If YES turn right and then GO TO GetAlignedDo you see opponent on the left? If YES turn left and then GO TO Get Aligned
Attack:Go straight ahead and push as hard as you can.Do you see end of ring? If YES then celebrate.Go to attack
Title: Jul 21 12:08 PM (36 of 37)
Title: Jul 21 12:08 PM (37 of 37)
