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ABSTRACT
An Autonomic Robot [I]
YILDIZ Muhammed, DALGAC Sekip, ÇAGLAR NurullahGraduation ro!e"t in Department o# $le"tri"al and $le"troni"% $n&ineerin&Super'i%or ( A%%i%t) ro#) Dr) Tol&a* +ARA
anuar*-./01
In thi% pro!e"t,an o2!e"t i% %ear"hed and #ound 2* %en%or% in 3m.%4uare area)The o2!e"t i% li#tup and tran%ported to "hoo%en 0m. red area in the "orner o# the room 2* ro2oti" arm)5hile thi% pro"e%% i% per#ormed,Ro2ot a'oid% 2la"k line% and 6hole o# pro"e%% i% pro"eed autonomi"all*)
7Z$T
Otonomik Robot
YILDIZ Muhammed, DALGAÇ 8ekip, ÇA9LAR Nurullah$lektrik $lektronik M:hendi%li;i B"ak-./01
Bu pro!ede, "i%im 3m. 2ir alanda %en%
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ACKNOWLEDGEMENTS
ir%t o# all,5e are &rate#ul to our %uper'i%or A%%i%t) ro#) Dr) Tol&a* +ara 2e"au%e o# 6hole help% durin& the pro!e"t %e%%ion)And al%o 5e 6ould like to thank% G:neri G:n&
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per#ormed 6hole o# the pro"e%% 6ithout human)Ro2ot u%e% %en%or% and ro2oti" arm durin& theall ta%k% i% per#ormed)
The num2er o# autonomi" ro2ot i% in"rea%in& 6ith the de'elopin& te"hnolo&* and ea"hro2ot i% 2etter than pre'iou% one and the num2er o# #ailure i% de"rea%in&)urther more,the%e
ro2ot i% takin& pla"e ea%il* in dail* li#e)5ith ro2oti" arm%,%en%or% the* "an do an*thin& that people "an do)
In thi% pro!e"t,6e de%i&n an %pe"ial autonomi" ro2ot that "an #ind and tran%port an o2!e"t#rom an*6here to an*6here 6e 6ant)Thi% ro2ot look like a people 6ith %en%or%,6heel% and it%ro2oti" arm)>2!e"t i% #ound 6ith u%in& t6o ltra%oni" di%tan"e %en%or%,and ro2ot mo'e%to6ard to o2!e"t #or "at"hin& the o2!e"t)Ro2ot li#t% it up 2* ro2oti" arm% and tran%port% to redarea 6ith #ollo6in& 2la"k line%)Ro2ot %en%e% red area u%in& "olor %en%or)inall*,Ro2ot lea'eo2!e"t to red area)
Arduino Uno
The arduino uno 6a% in'ented 2* Ma%%imo Ban=i in Italia)It ha% a open %our"e li2rar* atinternet that% 6h* ea%* pro&ramma2l* ) It i% mi"ro"ontroller %*%tem 2a%ed on CEE)It ha% 0F
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di&ital inputoutput pin% o# 6hi"h 1 "an 2e u%ed a% 5M output%,1 analo& input%,a SB"onne"tion,a po6er !a"k)It in"lude% e'er*thin& needed to %upport the mi"ro"ontroller)To &et%tart,*ou "an "onne"t it to a "omputer 6ith a SB "a2le or po6er 6ith a AC to DC adapter)
Arduino Uno
Tecnic!" #e!ture$
Mi"ro"ontroller Atme&aH.
>peratin& Jolta&e KJ
Input Jolta&e -0.J
DC Current per I> in ./ mA
DC Current #or H)HJ in K/ mA
Robotic Arm
The ro2oti" arm 'er* popular in the 6orld)5e u%e ro2oti" arm to li#t up and put do6n too2!e"t)A""ordin& to in our re%ear"h,6e "ouldnt #ind a'aila2le arm #or u%)Then 6e made
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ro2oti" arm #rom HD printer)The maimum 6ide o# the ro2oti" arm i% 0. "m)5e u%ed t6o%er'o motor% to mo'e r?&ht-le#t dire"tion and up-do6n dire"tion)
U"tr!$onic Sen$or
ltra%oni" %en%or "an mea%ure the di%tan"e #rom . "m to F// "m)5e "an u%e it in radar and
ro2ot appli"ation)The 2a%i" prin"iple o# thi% %en%or thi% %en%or 6e %end a pul%e a2out 0/u%
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throu&h tri& pin and then the %en%or produ"e% a %i&nal at a #re4uen"* o# F/k= in it%el# and
%end% thi% pul% to it% tran%du%ere )The %ound 6a'e in the air, at %ea le'el and 0K O C , take% HF/
m % %peed%)Strike% an o2!e"t and i% re#le"ted 2a"k to the %en%or)$"ho i% dire"tl* proportional
to the o2!e"t di%tan"e #rom the %en%or pin i% at lo&i"al 0 #or a 6hile and then a&ain 2e"ome%
lo&i" /)To mea%ure thi% di%tan"e 6e need to #ind out lo&i" 0 time o# e"ho pin )Then the
di%tan"e i% "al"ulated u%in& the amount o# that time)
ltra%oni" %en%or
Tecnic!" #e!ture$
o'er Suppl* EKJ DC
5orkin& Current 0K mA
Ran&in& Di%tan"e . "m - F// "m
Arduino Connection
Co"our Sen$or
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TCH.// Colour %en%or i% "omplete "olor dete"tor that in"lude %en%or "hip and F 6hiteled%)It per"ei'e three di##erent "olour)The* are &reen 2lue and red)It ha% 0/ pin%)The taken data#rom the RGB #ilter 6a% "on'ert to %4uare 6a6e 6ith proportional o# the #re4uen"*)
TCSH.// Colour Sen%or
Tecnic!" #e!ture$
Suppl* Jolta&e .) - K J
Inter#a"e Di!ital
Color Sen%or% Channel% RGB
Arduino Connection
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Re%"!ct!nce Sen$or
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PTR-0A i% line %en%or that u%in& in the 'ariou% ro2ot pro!e"t) The aim o# to u%e thi%%en%or that a'oid the 2la"k line and %ta* in the ro2ot pro!e"t area)Re#la"tan"e %en%or in"lude% a"ouple o# in#rared led and phototran%i%tor pair)Thi% %en%or &i'e% u% %ome %pe"i#i" ran&edepend% on the "olour t*pe)The output% o# the PTR-0A %en%or &oe% to Arduino)So the ro2ota'oid the 2la"k line or #ollo6in& 2la"k line)
PTR-0A Re#la"tan"e Sen%or
Tecnic!" #e!ture$
>peratin& 'olta&e K J
Suppl* "urrent 0 mA
>utput ormat Analo& Jolta&e
Ran&e Sen%in& Di%tan"e H mm - 1 mm
Robot &od'
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Ro2ot 2od* i% ei%ted t6o parallel plate three 6heel% and %ome %"re6)5e 2ou&ht it a% aun"om2ined)5e "om2ined all o# the "omponent ea"h other 'ia hole on the plate)
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DC MOTOR
In ro2oti" d" motor% are u%e 6ith redu"tor or 6ithout redu"er) Redu"er% "on%i%t o# %ha#t%and %pro"ket% #itted into the 2od*)The purpo%e o# the redu"er% i% tra%mitte po6er and "reat%moment)The #eature% o# d" motor% %ho6n 2elo6Q
Arduino connection
Tecnic!" #e!ture$
nput 'olta&e H-0.
Speed .K/ Rpm
Current 3/ mA
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SER(O MOTOR
Ser'o motor i% a t*pe o# motor% 6ho%e output %ha#t "an 2e mo'ed to a %pe"i#i" an&ular po%ition 2* %endin& it a "oded %i&nal) The %er'o motor 6ill maintain the po%ition o# the %ha#t a%lon& a% *ou keep appl*in& the "oded %i&nal) 5hen *ou "han&e the "oded %i&nal, the an&ular
po%ition o# the %ha#t 6ill "han&e) the u%in& area% o# the motor% are %ome ro2ot pro!e"t, ro2oti"arm and indu%trial appli"ation)
SM-FH/HR Ser'o Motor
Tecnic!" #e!ture$
Speed1J /)0F %e"1/O
Stall tor4ue1J F)k&)"m
Speed(4.8) 0.16 sec/1/O
Stall tar4ue H)Hk&)"m
Arduino Connection
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A))ENDI*
Gripper Arm In%tru"tion%
art% li%t to 2uild the arm(
• Arm × 0•
• Guide × .•
• Le#t Dri'e × 0•
• Ri&ht Dri'e × 0•
• ,a6× .
•
• Ser'o × .•
• Gripper Ba%e× 0
•
• Lon& S"re6 × 00•
•
Lo"k Nut×
0K•
• Short S"re6 × F•
• Gripper Top× 0
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Ste+ ,-
In%ert the el2o6 %er'o into the %lot in the arm)
Ste+ .-
a%ten the %"re6% 6ith #our nut%
Ste+ /-
Stret"h the &ripper 2a%e around the #ront
and pu%h it onto the %er'o)
Ste+ 0-
la"e the &ripper %er'o under the &ripper 2a%e)
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Ste+ 1-
a%ten the %er'o in pla"e 6ith #our nut%)
Ste+ 2-
u%h the ri&ht dri'er onto the %er'o)
Ste+ 3-
la"e the le#t dri'e in %o that it me%he% 6ith
the ri&ht dri'e) It %hould mirror the an&le o#
the ri&ht dri'e) It 6ill 2e held in pla"e 6ith
the top plate in the neMt %tep)
Ste+ 4-
la"e the top lid o'er the dri'er%) The pe& on
the 2ottom %hould #it into the hole in the le#t
dri'e)
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Ste+ 5-
Nold the top in pla"e 2* #a%tenin& the %"re6
6ith a nut)
Ste+ ,6-
Ali&n the &uide% 6ith the hole% in the &ripper
2a%e and top plate)
Ste+ ,,
iM the &uide% in pla"e 6ith t6o nut%)
Ste+ ,.-
Ali&n the hole% o# one !a6 6ith the hole inthe end o# the ri&ht dri'e and the "orre%pond-
in& &uide) C%e t6o %"re6% to hold it in pla"e)
Ali&n the hole% o# the other !a6 6ith the le#t
dri'e and the "orre%pondin& &uide) C%e t6o
more %"re6% to hold it in pla"e
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Ste+ ,/-
iM the !a6% in pla"e 6ith #our nut%)
Ste+ ,0-
You ha'e no6 a%%em2led the arm)
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U"tr!$onic R!n7in7 Modu"e 8C 9 SR60
rodu"t #eature%(
ltra%oni" ran&in& module C - SR/F pro'ide% ."m - F//"m non-"onta"t mea%urement#un"tion, the ran&in& a""ura"* "an rea"h to Hmm) The module% in"lude% ultra%oni"tran%mitter%, re"ei'er and "ontrol "ir"uit) The 2a%i" prin"iple o# 6ork(
%in& I> tri&&er #or at lea%t 0/u% hi&h le'el %i&nal,
The Module automati"all* %end% ei&ht F/ k= and dete"t 6hether there i% a pul%e %i&nal 2a"k)
I the %i&nal 2a"k, throu&h hi&h le'el , time o# hi&h output I> duration i% the time #rom%endin& ultra%oni" to returnin&)
Te%t di%tan"e U hi&h le'el timeV'elo"it* o# %ound HF/MS .,
5ire "onne"tin& dire"t a% #ollo6in&(
5V Supply
Trigger Pulse Inpu
!c"o Pulse #upu
0V $round
$le"tri" arameter
Workin7 (o"t!7e DC 1 (
Workin7 Current ,1mAWorkin7 #re:uenc' 068;M!< R!n7e 0mMin R!n7e .cmMe!$urin7An7"e ,1 de7reeTri77er In+ut Si7n!" ,6uS TTL +u"$eEco Out+ut Si7n!" In+ut TTL "e=er $i7n!" !nd te r!n7e in
ro ortion
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Dimen$ion 01>.6>,1mm
TC/.66
DESCR?)T?ON
The TCSH.// and TCSH.0/ pro&ramma2le "olor li&ht-to-#re4uen"* "on'erter% that "om2ine"on#i- &ura2le %ili"on photodiode% and a "urrent-to-#re- 4uen"* "on'erter on a %in&lemonolithi" CM>S inte&rated "ir"uit) The output i% a %4uare 6a'e K/W dut* "*"le 6ith#re4uen"* dire"tl* propor- tional to li&ht inten%it* irradian"e) The #ull-%"ale output#re4uen"* "an 2e %"aled 2* one o# three pre%et 'alue% 'ia t6o "ontrol input pin%) Di&italinput% and di&ital output allo6 dire"t inter#a"e to a mi"ro"ontroller or other lo&i" "ir"uitr*)
>utput ena2le >$ pla"e% the output in the hi&h-impedan"e %tate #or multiple-unit %harin& o# a mi"ro"ontroller input line)In the TCSH.//, the li&ht-to-#re4uen"* "on'erter read% an arra* o# photodiode%) Siteen photodiode% ha'e 2lue #ilter%, 01 photodiode% ha'e &reen #ilter%,01 photodiode% ha'e red #ilter%, and 01 photodiode% are "lear 6ith no #ilter%)In the TCSH.0/,the li&ht-to-#re4uen"* "on'erter read% a F 1 arra* o# photodiode%) Si photodiode% ha'e 2lue#ilter%, 1 photodiode% ha'e &reen #ilter%, 1 photodiode% ha'e red #ilter%, and 1 photodiode% are"lear 6ith no #ilter%)The #our t*pe% "olor% o# photodiode% are interdi&itated to minimi=e thee##e"t o# non-uni#ormit* o# in"ident irradian"e) All photodiode% o# the %ame "olor are"onne"ted in parallel) in% S. and SH are u%ed to %ele"t 6hi"h &roup o# photodiode% red, &reen,
2lue, "lear are a"ti'e) hotodiode% are 00/ µm 00/µm in %i=e and are on 0HF-µm "enter%)
Terminal Functions
TERMINA
L NAMEI/O DESCRIPTI
ON
GND 4 Power supply ground. All voltages are referenced to GND.
OE 3 I Enable for f o (actve low!.
O"# $ O Output fre%uency (f o!.
&' &) ) * I Output fre%uency scalng selecton nputs.
&* &3 + , I P-otodode type selecton nputs.
DD / &upply voltage
Table 1. Selectable Otions
S! S P#OTODIODE T$PE
0 0 1ed
0 2 lue
2 0 lear (no flter!
2 2 Green
S S1 O&TP&T FRE'&ENC$ SCALIN(
0 0 Power down
0 2 *5
2 0 *'5
2 2 )''5
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A,ailable Otions
DE-ICE T PACA(E PACA(E ORDERIN(#&3*'' 64'° to ,/° &OI6, D #&3*''D
#&3*)' 64'° to ,/° &OI6, D #&3*)'D
Recommene Oeratin2 Conitions
MIN NOM MA3 &NI
&upply voltage DD *.+ / /./
2g-7level nput voltage I2 DD 8 *.+ to /./ * DD
0ow7level nput voltage I0 DD 8 *.+ to /./ ' '.,
Operatng free7ar te9perature range # A 64' +' °
Electrical C4aracteristics at TA 5 !6°C7 -DD 5 6 - )unless ot4er8ise note+
PARAMET TEST CONDITIONS MIN T$ M &NI
O2 2g-7level output voltage IO2 8 6 * 9A 4 4./
O0 0ow7level output voltage IO0 8 * 9A '.* '.4
II2 2g-7level nput current / µ A
II0 0ow7level nput current / µ A
IDD &upply currentPower7on 9ode ).4 9A
Power7down 9ode '.) µ A
:ull7scale fre%uency (&ee Note 4!
&' 8 2 &) 8 2 /'' $' ;2<
&' 8 2 &) 8 0 )'' )* ;2<
&' 8 0 &) 8 2 )' )* ;2<
#e9perature coeffcent of responsvty λ ≤ +'' n9 6*/° ≤ # A≤ ± pp9=
;& &upply voltage senstvty DD 8 / ±)'5 ±'. 5=
NO#E 4> :ull7scale fre%uency s t-e 9a?9u9 operatng fre%uency of t-e devce wt-out saturaton.
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@TR,A
Functional Descrition
The ololu PTR-0A re#le"tan"e %en%or "arrie% a %in&le in#rared L$D and phototran%i%tor pair)
The phototran%i%tor i% "onne"ted to a pull-up re%i%tor to #orm a 'olta&e di'ider that produ"e%
an analo& 'olta&e output 2et6een / J and JIN 6hi"h i% t*pi"all* K J a% a #un"tion o# the
re#le"ted IR) Lo6er output 'olta&e i% an indi"ation o# &reater re#le"tion) or a %imilar %en%or
6ith a di&ital I>-"ompati2le output, %ee the PTR-0RC re#le"tan"e %en%or )
The L$D "urrent-limitin& re%i%tor i% %et to deli'er approimatel* 0 mA to the L$D 6hen
JIN i% K J) The "urrent re4uirement "an 2e met 2* %ome mi"ro"ontroller I> line%, allo6in&the %en%or to 2e po6ered up and do6n throu&h an I> line to "on%er'e po6er)
Thi% %en%or 6a% de%i&ned to 2e u%ed 6ith the 2oard parallel to the %ur#a"e 2ein& %en%ed)
Be"au%e o# it% %mall %i=e, multiple unit% "an ea%il* 2e arran&ed to #it 'ariou% appli"ation% %u"h
a% line %en%in& and proimit*ed&e dete"tion) or a line %en%or 6ith ei&ht o# the%e unit%
arran&ed in a ro6, plea%e %ee the PTR-A re#le"tan"e %en%or arra*Q #or a %imilar arra* o# three
%li&htl* di##erent %en%or "omponent%, %ee the PTR-HA) or a %maller %en%or 6ith lon&er ran&e,
and intended #or u%e 6ith the 2oard perpendi"ular to the %ur#a"e, plea%e %ee the PTR-L-0A
re#le"tan"e %en%or )
https://www.pololu.com/product/2459https://www.pololu.com/product/960https://www.pololu.com/product/2456https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2454https://www.pololu.com/product/2459https://www.pololu.com/product/960https://www.pololu.com/product/2456https://www.pololu.com/product/2454https://www.pololu.com/product/2454
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Inter%!cin7 it te @TR9,A Out+ut
There are %e'eral 6a*% *ou "an inter#a"e 6ith the PTR-0A output(
• %e a mi"ro"ontrollerX% analo&-to-di&ital "on'erter ADC to mea%ure the 'olta&e)
• %e a "omparator 6ith an ad!u%ta2le thre%hold to "on'ert the analo& 'olta&e into a
di&ital i)e) 2la"k6hite %i&nal that "an 2e read 2* the di&ital I> line o# a mi"ro"ontroller)
• Conne"t the output dire"tl* to the di&ital I> line o# a mi"ro"ontroller and rel* upon it%
internal "omparator)
Thi% la%t method 6ill 6ork i# *ou are a2le to &et hi&h re#le"tan"e #rom *our 6hite %ur#a"e a%
depi"ted in the le#t ima&e, 2ut 6ill pro2a2l* #ail i# *ou ha'e a lo6er-re#le"tan"e %i&nal pro#ile
like the one on the ri&ht)
@TR9,A out+ut ,B4 !!' %rom ! $+innin7ite di$k it ! b"!ck "ine on it
@TR9,A out+ut /B4 !!' %rom ! $+innin7ite di$k it ! b"!ck "ine on it
Inclue Comonents
Thi% module ha% a %in&le mountin& hole intended #or a . %"re6 not in"ludedQ i# thi%
mountin& hole i% not needed, thi% portion o# the CB "an 2e &round o## to make the unit e'en
%maller) The re#le"tan"e %en%or %hip% 6ith a H-pin /)0 header %trip, 6hi"h "an 2e %oldered in
the "on'entional perpendi"ular orientation or parallel to the CB, a% %ho6n 2elo6) You "an
al%o %older 6ire%, %u"h a% ri22on "a2le, dire"tl* to the pad% #or the %malle%t in%tallation)
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SM9S0/6/R $er=o
De$cri+tion
The SM-SFH/HR i% a %tandard-%i=ed %er'o that ha% 2een 2uilt 2* Sprin&RC %pe"i#i"all* #or"ontinuou% rotation, makin& it an ea%* 6a* to &et *our ro2ot mo'in&) It #eature% t6o 2all
2earin&% on the output %ha#t #or redu"ed #ri"tion, and it o##er% ea%* a""e%% to the re%t-pointad!u%tment potentiometer) Thi% i% the mo%t popular "ontinuou% rotation %er'o 6e "arr*)
O=er=ie
The SM-SFH/HR i% a %tandard-%i=ed %er'o that ha% 2een 2uilt 2* Sprin&RC %pe"i#i"all* #or
"ontinuou% rotation) At 1 J, it ha% a maimum rotation %peed o# KF RM no-load and "an
produ"e up to 0 o=-in K)0 k&-"m o# tor4ue) It #eature% t6o 2all 2earin&% on the output %ha#t
#or redu"ed #ri"tion, and it o##er% ea%* a""e%% to the re%t-point ad!u%tment potentiometer) The
%er'o "an 2e "ontrolled u%in& a dire"t "onne"tion to a %in&le mi"ro"ontroller I> line 6ithout
an* additional ele"troni"%, 6hi"h make% it a &reat a"tuator #or 2e&inner ro2oti"% pro!e"t%)
The SM-SFH/HR "ontinuou% rotation %er'o "on'ert% %tandard RC %er'o po%ition pul%e% into
"ontinuou% rotation %peed) The de#ault re%t point i% 0)K m%, 2ut thi% "an 2e ad!u%ted 2* u%in& a
%mall %lotted %"re6dri'er to turn the middle-point po%itioner) ul%e 6idth% a2o'e the re%t point
re%ult in "ounter"lo"k6i%e rotation, 6ith %peed in"rea%in& a% the pul%e 6idth in"rea%e%Q pul%e
6idth% 2elo6 the re%t point re%ult in "lo"k6i%e rotation, 6ith %peed in"rea%in& a% the pul%e
6idth de"rea%e%)