Seminar On Mobile Robotics

Seminar on “Mobile Robotics” – First page
NIT Warangal
ACKNOWLEDGEMENT
Mobile Robotics Lab, AE, IISc

POR Lab, NIT Warangal
NIT Warangal
AGENDA
• Introduction
• Concept
• Stepper Motor Basics
• Parallel port programming
• Robocar – an application
Mobile robot
• Discussion
<http://frontier123.blogspot.com>/
Evolution
The word robot comes from the Czech

word "robota", meaning "forced labor."
A robot is an electro-mechanical device

that can perform autonomous or
preprogrammed tasks.
Laws of Robotics
(Asimov, 1942)
Zeroth Law: Robot may not injure humanity, or, though

inaction, allow humanity to come to harm.
First Law: A robot may not injure a human being, or, through
inaction, allow a human being to come to harm, unless this would
violate a higher order law.
Second Law: A robot must obey orders given it by human

beings, except where such orders would conflict with a higher
order law.
Third Law: A robot must protect its own existence as long as

such protection does not conflict with a higher order law.
What is Robotics science?
Robotics is the science or study of the technology

associated with the design, fabrication, theory, and
application of robots.
The technology developed to combine software,

mechanical manipulators, sensors, controllers and
computers to provide programmable automation.
Robots are nothing but very sophisticated and

intelligent machines that are helpful.
APPLICATION
Edutainment
¾ Educational Robots, Robot Toys, Entertainment, Robotic Art
Outdoor Robotics
¾ Land, Sea, Air, Space Æ Wheeled Mobile Robot
Advanced production systems
¾ Industrial robotics
Adaptive robot servants and intelligent homes
¾ Indoor Service Robots, Ubiquitous Robotics
Network Robotics
¾ Internet Robotics, Robot ecology
Health Care and Life Quality
¾ Surgical Robotics, Bio-Robotics, Assistive Technology
Military Robotics
¾ Intelligent Weapons, Robot Soldiers, Super-humans
Wheeled Mobile Robot…
¾ Easy to startup with, into robotics.
¾ There has been a convergence of research talents in

recent years.
¾ Motor driven wheels are the only moving part.
¾ a self-propelled and self-contained robot that is

capable of moving over a mechanically
unconstrained course.
AGENDA
• Introduction
• Concept
Mobile robot
• Discussion
CONCEPT
¾ Mechanics (31%)
¾ Electronics (29%)
¾ Mathematical modeling
concepts (21%)
¾ Software (19%)
MECHANICS
The body structure

¾ Chasis (Aluminum, wood)
Strength issue
Dimension and weight issue
¾ Wheel placement, and Payloads
Selection of motor
¾ Brushed DC motor Æ Common
¾ Brushless DC motor Æ High speed requirement
¾ Servo motor Æ Feedback requirement
¾ Stepper Motor Æ Better control, but slow
CONTINUED…
Requirements:
¾ Aluminum sheets
¾ Nuts and bolts
¾ Hacksaw (for cutting)
¾ File (for smoothening)
¾ Rubber wheels with better grips
¾ Front free wheel
Aluminum chasis
Front free wheel
Two back wheels controlled by motor
Wheels coupled to stepper motors
electronics
Component selection and Design (35%)

¾ Controller, Sensors
¾ Circuit Design
¾ Power supply
Fabrication or assembling (25%)

¾ Soldering
¾ Interface between different modules
Testing and Debugging (40%)

Basic Electronics
Most of digital circuits use TTL (Transistor Transistor Logic) logic:

¾ Logic High: 2 – 5V
¾ Logic Low: 0 – 0.8V
Basic components
¾ Resistors (1/4 W, ½ W) (Fixed/Variable)
¾ Capacitors (Electrolytic, Ceramic)
¾ ICs, Transistors, Diodes, voltage regulator
¾ LEDs
Other requirements
¾ Power supply
¾ Connecting wires, cables
¾ Twisser, Stripper
¾ Bread board, Vero-board
Identifying components
Resistors Variable resistors Capacitors LEDs
Voltage regulator IR LEDs TSOP 1738

(IR sensor)
TOOLS and Equipments
Twisser and stripper Soldering rod, flux and Lead Digital Multimeter
C.R.O. Function Generator Analog multimeter
CIRCUIT BUILDING
¾ First, test the circuit on bread-board if using first time.
¾ Choose the Veroboard and plan the proper placements of

components on board.
¾ Practice well for soldering.
¾ All the grounds should be common.
¾ Always use voltage regulator 7805 IC for TTL circuits.
¾ Use IC sockets, extension pins, male-female connectors.
¾ Test for continuity, once soldering the circuits is completed.
¾ Take care of IC pin numbers while inserting into the socket.
¾ Switch the power supply before removing any chip.
CONTINUED…
Fig. Perforated strip-board (Vero-board)
¾ Select the kind of board as per requirement.

¾ Use twisser for placing components as well as ICs.
¾ Plan the placement of components well in advance.
¾ Place components on one the facing side as in fig (a). Connections to be
made on the other side, with metallic layer.
¾ Scratch the wires before soldering, to remove oxides.
¾ Pointed soldering rod is a better option. Use flux and Lead
¾ Use 7805 regulator, diode, IC socket,

Connectors.
¾ Don’t make connection on the facing side.
Mathematical Modeling
Each motor comes with specifications such as maximum

current rating, number of steps per revolution, etc.
For distance travel calculation

¾ Circumference of wheel = 2πr, is the distance covered by one
revolution by wheel.
¾ One of the motor is put in flipped manner, i.e. clockwise
motion of the flipped one will lead to backward motion rather
than forward motion.
1 revolution = 200 steps (for e.g. from specifications)

No. of steps required for X distance = X /(2πr) * 200
Where, r = radius of wheel
Algorithm For Turning
For turning – 3 common strategies:

¾ Stop one wheel and move the other.
¾ Move one in forward direction and the other in backward. [This

strategy is followed in e.g. here.]
¾ Slow down one of the wheel.
Fig. one wheel Fig. Two wheel turning Fig. One wheel
moving and the in forward and moving faster
other stopped backward direction than other
… CONTINUED
For turning – by 2nd strategy:
1 revolution = 2πc = 200 steps of seqences
πc = 180o => xo =(π/180 * x)c = yc,

where d=width of robo, i.e. distance between
wheels.
yc=(200/2π * y) steps
SOFTWARE
¾ C/C++
» Basic Linux environment
» Serial/Parallel port interfacing
¾ Assembly language
Emulator
Embedded software developer
» Keil
» EZ programmer
AGENDA
• Introduction
• Concept
Mobile robot
• Discussion
Stepper Motor
Stepper motors is a electromagnetic device that

converts digital pulses into mechanical rotation.
Stepper motor uses the simple principle of Lenz’s

Law.
When the stator coil is energized, electromagnetic

field is produced which in turn rotates the permanent
magnet (rotor).
Continued…
Types of Stepper Motor Leads configurations

¾ variable reluctant ¾ 4 lead
¾ permanent magnet ¾ 5 lead
¾ 6 lead
¾ hybrid motor.
Modes of operation
Configurations ¾ Full step
¾ Bipolar ¾ Half step
¾ Unipolar ¾ Micro stepping
Merits Stepper Motor
¾ Draws almost constant current all the time.
¾ High torque at low speed.
¾ Input is digital signal .
¾ Better Control and precise positioning.
¾ Rapid discrete motion.
¾ Wide range of speed depending on input frequency

pulses.
Demerits of Stepper Motor
¾ Consumption of current regardless of load.
¾ Low torque at high speed and resonance effect at low speed

Æ vibration.
¾ If a digital pulse input is missed, then it can exhibit a large

error and oscillation.
¾ Requires dedicated controller.
¾ Costly.
¾ Not a good option when speed is the criterion.
Characteristics
Fig. Torque Vs Speed
Modes of Operation
Stepping Sequence
a) Scheme-I b) Scheme-II
Fig. Full Stepping Mode
Fundamental Operation
ÅCross-section
Stepper MotorÆ
Fig. Full Step Mode working
SEQUENCE FOR DRIVING STEPPER MOTOR
A sequence (A Æ 6 Æ 5 Æ 9) will
move the motor in one direction
and the reverse sequence will
change the direction.
Repeat the same 4 steps of
sequences, and a total of 200 (from
specification) steps will make one
revolution.
STEPPER MOTOR INTERFACING DETAILS
Fig: Various lead configurations

Fig. Driver IC uln2803
Darlington pair into the IC

to amplify current
Fig: A typical translator-driver connection
CIRCUIT CONNECTIONS
Vcc=12V is given to 10th pin and ground of SPP & Power supply is
together connected to 9th pin of driver IC ‘ULN 2803’.
Data pins are connected to driver IC, accordingly sequence of inputs
for clockwise/anti-clockwise movement is given.
Output of IC is given to data pins of motor.
Two common points of motor is connected to 12V RPS.
…CIRCUIT CONNECTIONS
AGENDA
• Introduction
• Concept
Mobile robot
• Discussion
Parallel Port programming
The DB25, also called printer port

¾ Handling printer
¾ Faster communications with scanners, drives, and
other devices that send data to the PC
¾ PC to PC communication
Programming Parallel Port in Linux

¾ Application in robotics
PARALLEL PORTS (DB-25)
Port is a set of signal lines that the microprocessor, or

CPU, uses to exchange data with other
components/device.
Parallel port, also called printer port is found on the

back panel of CPU as a D-Type 25 pin female/male
connector.
A parallel port transfers multiple bits at once and

the larger number of I/O pins makes external
circuitry to implement many simpler tasks.
HARDWARE SETTING
To find the existing port in windows:
Click on control panel → system → hardware device
manager → ports → Printer port(LPT1) →
Resources
The parallel port’s hardware
includes the back-panel
connector and the circuits and
cabling between the connector
and the system’s expansion bus.
The PC’s microprocessor uses
the expansion bus’s data,
address, and control lines to
transfer information between the
parallel port and the CPU,
memory, and other system
components.
DB25 CONNECTOR
Figure illustrates DB25 connector, DB25 cable and DB25

breakout board
IEEE Std.1284-1994 Standard Signaling Method for a Bi-directional Parallel Peripheral
Interface for Personal Computers"
ADDRESSING
The standard parallel port uses three contiguous addresses

(port’s base address/ or data register, Status register, Control
register), usually in one of these ranges.
3BCh, 3BDh, 3BEh
378h, 379h, 37Ah (very common)
278h, 279h, 27Ah
DB25 PIN CLASSIFICATIONS
¾ The pins are classified as follows:

8 out (but I/0 for bidirectional) DATA BITS (pins: 2-9)
4 CONTROL In-Out lines (pins: 1, 14, 15, 17)
5 STATUS In lines (pins: 10-13 & 15)
8 GROUNDS (pins: 18-25)
[Out of these 25 pins 1, 11, 14 & 17 are inverted.]
¾ Every port uses a range of addresses, and location of

addresses varies.
PIN CONFIGURATIONS (DB25):
Pin No. Signal Name Pin No. Signal Name

1 Strobe 10 Acknowledge
2 Data 0 11 Busy
3 Data 1 12 Paper End
4 Data 2 13 Select
5 Data 3 14 Auto Feed
6 Data 4 15 Error
7 Data 5 16 Init
8 Data 6 17 Select In
9 Data 7 18-25 GND
Note: Pin nos. 10, 14, 15, 16, 17 are inverted.
PROGRAMMING SPP UNDER LINUX
• Windows XP has put restrictions on I/O ports
• I/O port operations with Linux is simple. You should be root login to
access port.
• Header files to be used:

<sys/io.h> or <asm/io.h> & <unistd.h>
• ioperm() - to obtain hardware i/o access permission

• inb() - to read data from ports
• outb() - to send data to ports
• usleep(delay in us) - for delay in micro-second
FUNCTIONS used…
outb writes the low byte of value to portid, the high byte to portid
+ 1, the function is defined as:
void outb(value, portid);
inb reads the low byte of a word from portid, the high byte from
portid + 2, the syntax is:
int inb(portid);
ioperm sets the port access permission bits for the process for num
bytes starting from port address from to the value turn_on. The
use of ioperm requires root privileges.
int ioperm(unsigned long from, unsigned long num, int turn_on);
INITIALIZATION OF VARIABLES
#include <sys/io.h>
#include<stdio.h>
#define PORTADDRESS 0x378 /* Base Port Address */
#define DATA PORTADDRESS+0
#define STATUS PORTADDRESS+1
#define CONTROL PORTADDRESS+2
int main()
{
if(ioperm(0x378,3,1)) exit(1); //obtain hardware i/o access
…
return 0;
}
AN EXAMPLE
Simple programs can be now written as such as can be tested by
glowing LED (Light Emitting Diode):
#include <sys/io.h>
#include <unistd.h>
int main()
{
char a; //store 8 bit data
if(ioperm(0x378,3,1)) exit(1);
outb(0xF0,0x378); //write 1111 0000 to data line
a = inb(0x378+1); //read data from input status register
cout<<“\nCharacter read : “<<a;
print(“\nHello parallel port\n”);
return 0;
}
LEDs interfacing
Make a connection like

aside.
Write code for flashing

LEDs, running light, 7
segment display
Take input from Hex-

keypad and accordingly
control the LEDs
SAMPLE FUNCTION CODE FOR
STEPPER MOTOR CONTROL
#define BASEPORT 0x378

void forward(int delay) void right(int delay)
{
{ //delay in usec
//delay in usec outb(0x55, BASEPORT);
outb(0x59, BASEPORT); usleep(delay);
usleep(delay); outb(0x66, BASEPORT);
outb(0x6A, BASEPORT); usleep(delay);
usleep(delay); outb(0xAA, BASEPORT);
outb(0xA6, BASEPORT); usleep(delay);
outb(0x99, BASEPORT);
usleep(delay);
usleep(delay);
outb(0x95, BASEPORT); }
usleep(delay);
}
AGENDA
• Introduction
• Concept
Mobile robot
• Discussion
Pre-programmed
LINE Follower Robot
Video Demonstration
pre-programmed Line Follower
Points to be noted…
ROBOT CONTROLLER WHEEL MATHEMATIC REMARKS

NO. MODELLING
1 8051 MCU Wooden Just an Onboard
(not very smooth) approximation controller
made
2 Parallel port Wooden Compensation not More strain on
programming (comparatively taken into account one wheel at
good) turns
3 8051 MCU Wood wrapped Was not clear a) on-board
controller
with cotton and
b) Very high speed
then covered by – created problem
tape c) Chasis not very
strong
4 Parallel port Plastic wheels Well done and Best of all,

programming with better grip error factors too except for slow
compensated speed.
Remote controlled robot
Video Demonstration
Remote controlled Roborace
Points to be noted…
After every 4 steps or sequences, the remote control

input was constantly being checked.
It is always better to practice with the kind of job robo

should compete beforehand. Skill of remote operator
matters.
Though, here it proved to be better than the competitor,

but stepper motor are never a good choice for tasks like
racing.
What’s Ahead?
Implement Microcontroller controlled

robot.
Robo-controller MCU programmer

Implement sensors.
IR sensors using TSOP 1738 as
receiver and IR LED flashing at
38Khz as transmitter
AGENDA
• Introduction
• Concept
• Robocar – an application Mobile
robot
• Discussion
Conclusions
Implementing unique software strategies

is possible to achieve low cost robot
platform whose movement is controlled
by software through Parallel Port.
Useful Links
1. Datasheets
MCU
http://www.atmel.com/dyn/resources/prod_documents/doc0265.pdf
http://ww1.microchip.com/downloads/en/DeviceDoc/39582b.pdf
Driver ICs
http://www.ortodoxism.ro/datasheets/motorola/ULN2804A.pdf
Voltage regulator
http://cache.national.com/ds/LM/LM341.pdf
Sensors
http://www.vishay.com/docs/82030/82030.pdf
2. Softwares
http://www.keil.com/dd/chip/2976.htm
http://www.electronics-lab.com/downloads/cnt/fclick.php?fid=21
Thanks
"It's not that i am genius,
but i stay a little longer
with problems" - Einstein.

Seminar On Mobile Robotics

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Seminar on “Mobile Robotics” – First page

 Mobile Robotics Lab, AE, IISc

 The word robot comes from the Czech

 A robot is an electro-mechanical device

 Zeroth Law: Robot may not injure humanity, or, though

 Second Law: A robot must obey orders given it by human

 Third Law: A robot must protect its own existence as long as

 Robotics is the science or study of the technology

 The technology developed to combine software,

 Robots are nothing but very sophisticated and

¾ Easy to startup with, into robotics.

¾ There has been a convergence of research talents in

¾ Motor driven wheels are the only moving part.

¾ a self-propelled and self-contained robot that is

 The body structure

 Component selection and Design (35%)

 Fabrication or assembling (25%)

 Testing and Debugging (40%)

 Most of digital circuits use TTL (Transistor Transistor Logic) logic:

Resistors Variable resistors Capacitors LEDs

Voltage regulator IR LEDs TSOP 1738

C.R.O. Function Generator Analog multimeter

¾ Choose the Veroboard and plan the proper placements of

¾ Practice well for soldering.

¾ All the grounds should be common.

¾ Always use voltage regulator 7805 IC for TTL circuits.

¾ Use IC sockets, extension pins, male-female connectors.

¾ Test for continuity, once soldering the circuits is completed.

¾ Take care of IC pin numbers while inserting into the socket.

¾ Switch the power supply before removing any chip.

Fig. Perforated strip-board (Vero-board)

¾ Select the kind of board as per requirement.

¾ Use 7805 regulator, diode, IC socket,

Each motor comes with specifications such as maximum

 For distance travel calculation

 1 revolution = 200 steps (for e.g. from specifications)

 For turning – 3 common strategies:

¾ Move one in forward direction and the other in backward. [This

¾ Slow down one of the wheel.

For turning – by 2nd strategy:

 1 revolution = 2πc = 200 steps of seqences

πc = 180o => xo =(π/180 * x)c = yc,

 Stepper motors is a electromagnetic device that

 Stepper motor uses the simple principle of Lenz’s

 When the stator coil is energized, electromagnetic

 Types of Stepper Motor  Leads configurations

¾ Draws almost constant current all the time.

¾ High torque at low speed.

¾ Input is digital signal .

¾ Better Control and precise positioning.

¾ Rapid discrete motion.

¾ Wide range of speed depending on input frequency

¾ Consumption of current regardless of load.

¾ Low torque at high speed and resonance effect at low speed

¾ If a digital pulse input is missed, then it can exhibit a large

¾ Requires dedicated controller.

¾ Not a good option when speed is the criterion.

Fig. Torque Vs Speed

Fig. Full Step Mode working

Fig: Various lead configurations

Darlington pair into the IC

 The DB25, also called printer port

 Programming Parallel Port in Linux

Mobile Robotics Lab, AE, IISc

The word robot comes from the Czech

A robot is an electro-mechanical device

Zeroth Law: Robot may not injure humanity, or, though

Second Law: A robot must obey orders given it by human

Third Law: A robot must protect its own existence as long as

Robotics is the science or study of the technology

The technology developed to combine software,

Robots are nothing but very sophisticated and

The body structure

Component selection and Design (35%)

Fabrication or assembling (25%)

Testing and Debugging (40%)

Most of digital circuits use TTL (Transistor Transistor Logic) logic:

For distance travel calculation

1 revolution = 200 steps (for e.g. from specifications)

For turning – 3 common strategies:

1 revolution = 2πc = 200 steps of seqences

Stepper motors is a electromagnetic device that

Stepper motor uses the simple principle of Lenz’s

When the stator coil is energized, electromagnetic

Types of Stepper Motor Leads configurations

The DB25, also called printer port

Programming Parallel Port in Linux

Port is a set of signal lines that the microprocessor, or

Parallel port, also called printer port is found on the

A parallel port transfers multiple bits at once and

Make a connection like

Write code for flashing

Take input from Hex-

After every 4 steps or sequences, the remote control

It is always better to practice with the kind of job robo

Though, here it proved to be better than the competitor,

Implement Microcontroller controlled