Report

Industrial Training- 2009

at

Omega Electronics- Jaipur

Mobile Robotics

About Omega Electronics:

Established in 1962 by Eminent Physics and Electronics scholar Mr. Y.P. Agarwal, Omega Electronics has more than three decades experience in manufacturing of various electronics instruments and teaching aids. Omega electronics follows international standards and procedures and is an ISO9001:2000 company. Omega Electronics broad based ranges of educational training equipments are based used in educational institutes worldwide.

Strength of Omega Electronics:

World Leader in Mfg. & Export of Technical Education Training Equipment 80 people 46 years of experience 1300 products Export Sales to more than 30 countries in Europe, Middle East, USA, SE Asia etc. 6. Customized & OEM production 7. ISO 9001:2000 Certified 8. Strict Quality Control 1. 2. 3. 4. 5.

Major Products of Omega Electronics:

RADAR Trainer Equipment VLSI Trainer Equipment Microprocessor/Microcontroller Trainers GPS Trainer Equipment LAN Trainer Equipment CRO Trainer Equipment Antenna Trainer Equipment Microwave Trainer Equipment Various Robotic Kits & Equipment Fiber Optic Lab Trainer Bread Board Training Equipments Communication Training Equipments Instrumentation Training Equipments Power Supply Equipments

Different Departments in the company:

Mechanical Department :
In the mechanical department, cabinet bodies of the products are manufactured and then various components like transformers, DPMs, voltmeters, ammeters, etc. are assembled on the cabinets.

Production Department:
Printed panels and PCBs are sent to this section and here components are assembled on them by soldering process. After that the final circuit connections are made and the rest of the wiring is done.

Quality Control Department:

The engineers team in the quality control section keeps an eye on the quality of the instrument to attain high level accuracy and minimizes the chances of malfunctioning of the instrument and provides the customer years of maintenance-free usage of the instrument.

Research and Development Department:

Regular Research & Project work is carried out to increase the quality and efficiency of the instruments and to develop some more innovative products.

What Is Robotics ?
The word robotics is used to collectively define a field in

engineering that covers the mimicking of various human characteristics. It may be human controlled or automatic. It must be able to perform certain tasks we set for it. The desired task must be achieved within some given limitations. Examples: Automatic Toy Car Mobile Sweeper Machine Machines removing mines Escape Robot Solar Beam Robot

Basic Parts Of Our Mobile Robot

Locomotion system
Power supply system Actuators Control system

-Controllers -Sensors &

Locomotion System
As the name suggests a mobile robot must have a

system to make it move This system gives our machine the ability to move forward, backward and take turns It may also provide for climbing up and down

Locomotion System
The concept of locomotion invariably needs rotational

motion e.g. a wheel driven by some power source This involves conversion of electrical energy into mechanical energy, which we can easily achieve using electrical motors The issue is to control these motors to give the required speed and torque

Wheeled Locomotion Systems

Differential drive
Car type drive Skid steer drive Articulated drive Synchronous drive Pivot drive

Differential Drive
It has a free moving wheel in the front accompanied

with a left and right wheel.The two wheels are separately powered
When the wheels move in the same direction the

machine moves in that direction. Turning is achieved by making the wheels oppose each others motion, thus generating a couple

Differential Drive Cont

Black arrows denote the direction of wheel. The green

ones show robot movement

Car Type Drive

This is the car type drive and the most common in real

world but not in robot world

It is characterized by a pair of driving wheels and a

separate pair of steering wheels

Car Type Drive Cont

Skid Steer Drive

A close relative of the differential drive system It is mostly used in tracked machines e.g. tanks. Also

finds application in some four / six wheeled robots The left and right wheels are driven independently Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground

Skid Steer Drive Cont

Differences With Differential Drive

Multiple drive wheels on each side give increased

traction.
Rest of its properties are more or less like the

differential drive system

Articulated Drive
In this mechanism the machine chassis (body) is

deformed to achieve rotation in contrast to the steering wheels in car type drive

Articulated Drive
Two actuators (motors) are needed. One to drive the

wheels and the other to change the pivot angle.

This system shares most of its features with the car

type mechanism.

Synchronous Drive
As the name suggests, it uses synchronous rotation of

its wheels to achieve motion & turns It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion The two sets can be directly mechanically coupled as they always move in the same direction with same speed

Synchronous Drive Cont

The direction of motion is given by black arrow. The

alignment of the machine is shown by green arrow

Advantages of Synchronous Drive

The use of separate motors for translation

and wheel turning guarantees straight line motion without the need for dynamic feedback control This system is somewhat complex in designing but further use is much simpler

Pivot Drive
The most unique type of Locomotion system It is composed of a four wheeled chassis and a

platform that can be raised or lowered

Pivot Drive
The wheels are driven by a motor for translation

motion in a straight line For rotation one motor is needed to lower/raise the platform & another to rotate the chassis around the platform This system can guarantee perfect straight line motion as well as accurate in place turns to a desired heading

Power Supply System

Suitable power source is needed to run the robots
Mobile robots are most suitably powered by batteries The weight and energy capacity of the batteries may

become the determinative factor of its performance

Open Loop Control System

Desired Action Controller Control ler Actuator Actuat or O/P

There is no error correction. No way to check if

the actuator was able to take the desired action Simple system to design, not very reliable Requires regular calibration of the system

Closed Loop Control System

Desired Action Controller Actuator O/P

Feedback

Example : ESCAPE ROBOT

Escape Obstacle Controller DC Motors

Turned away from obstacle

Infrared Receivivng Module

LDR - Light Dependent Resistor

Made of cadmium sulphides Resistance between two terminals vary depending on

the intensity of light Can be used to differentiate contrast colours

Thermistor
Manufactured from the oxides of the transition metals

- manganese, cobalt, copper and nickel Resistor depends on temperature

IR Photo Diode
Detects presence of Infra Red radiations
Used for obstacle proximity sensing IR Data Communication

Shaft Encoder

Shaft Encoders are used to measure the rotation of motor shaft

The holes / sectors are counted

Shaft Encoder Cont

Pulses from the

photo diode are counted Quadrature Encoders are used to determine direction of rotation as well

An Example - Line Follower

A line follower is a

robot capable of tracking a line drawn on a surface Optical sensors capture the line position at the front end of the robot The robot is steered to keep it always over the line

Block Layout of Line Follower

Optical Sensor Array

Steering Controller

Left Motor

Right Motor

Actuators
They convert the electrical energy into meaningful

mechanical work Mechanical output can be rotational or linear (straight line) Motors provide rotational motion Electromagnets provide linear motion

Motors are of various kinds

AC Motors : Not used much in robotics Stepper Motors : For controlled rotation

DC Motors : Finds extensive general use

Servo Motors : DC motor with in built feedback &

error compensation

Stepper Motors
Used for measured

rotation Can be held at a particular position of the shaft Ideal for many autonomous robots requiring higher precision

Stepper Motor Working

1000

0100 0010 0001

Stepping Sequences for Single Coil Excitation

Only one coil is active at a given instant of time

Single Coil Excitation

Stepper Motor Working Cont

1100

0110 0011 1001

Stepping Sequences for Double Coil Excitation

Two coils active at any given instant of time

Double Coil Excitation

Differences
Single Coil
Consumes Less Power Less Torque generated

Double Coil
Consumes Double Power More torque generated

Settling time is more

Settling time is less

Problems with Stepper Motors

Very low torque to weight ratio
Torque decreases with increase in the stepping

frequency For sufficiently high stepping speed the stepper motor may skip steps due to overshoot

DC Motors
As the name suggests, a

motor which uses a DC (Direct Current) power Can run in both directions Speed Controllable

DC Motor Working
1
V DC +

A
V DC

Direction of rotation controlled by polarity of current / voltage Speed of rotation controlled by average energy (power) fed to the motor

1
+

DC MOTOR

DC MOTOR

A
-

DC Motor Characteristics
Free running torque & current are ideally zero
Increased load implies, increased torque, current

drawn & power consumption Power supplied by a motor is the product of output shafts rotational velocity & torque

DC Motor Characteristics Cont...

DC Motors are highspeed, low-torque devices
Using gears, the high speed of the motor is traded off

into torque

DC Motor Characteristics Cont

Zero speed at
100% 90% 80% 70% 60% 50% 40% 30% 20% 10% LOAD POWER

SPEED ------>

100%

maximum load (stall torque) Highest speed while free running (zero load) Highest power at half speed & half load

10%

20%

30%

40%

50%

60%

70%

80%

90%

DC Motor Speed Control Circuit

CONTROL SIGNAL VOLTAGE CONTROL CIRCUIT OPERATING VOLTAGE

Input is the operating voltage & control signal

Output is a part of the operating voltage depending upon the control signal

1
+

DC MOTOR

A
-

DC Motor Speed Control Cont

Controlling the current by passing it through a

variable resistor is not advisable as it is extremely energy inefficient A trick is done to achieve reduced average power Power is supplied to the motor in short intermittent bursts, as explained further

THANK YOU