Digital control methods for a line following robot
- Art: Bachelorarbeit
- Autor: Steffen Block
- Abgabedatum: Mai 2003
- Umfang: 129 Seiten
- Dateigröße: 4,6 MB
- Note: 1,0
- Institution / Hochschule: Fachhochschule Gießen-Friedberg Deutschland
- ISBN (eBook): 978-3-8324-7512-3
-
ISBN (Paperback) :
978-3-8324-7512-3 P - ISBN (CD) :978-3-8324-7512-3 CD
- Sprache: Englisch
- Prämierung:
- Arbeit zitieren: Block, Steffen Mai 2003: Digital control methods for a line following robot, Hamburg: Diplomica Verlag
- Schlagworte: Projekt Management, PIC, Assembler, Electronic Hardware, Pulse Width Modulation
In den Warenkorb
74,00 €
Bachelorarbeit von Steffen Block
Abstract:
The project aim was to a built a robot, controlled by a PIC microcontroller to follow a line completely autonomously and as quickly as possible. The robot meets the requirements from the „RoboRama Contest”, followed a T-shape course, and obtained more (safety) features. Different kinds of design features and digital algorithms were developed and tested, in order to achieve the best results.
Applied project management techniques and used key skills, guaranteed the successful completion of the project, in the design and construction of hardware and software technologies.
The hardware was based on a block structure with infrared sensors at the front of the vehicle. Their analogue signals were transferred to digital logic with a comparator. This information used a PIC 16F84A microcontroller to control the movement and direction of the robot with pulse width modulation (PWM). All parts were mounted on a chassis, implemented with a mechanical construction set. Batteries of 9V provided the necessary power supply.
Adjustments were done through iterative steps, to come to the final result of the robot system. The main adapted design feature was the motor and steering system. First of all a separate servomotor for the steering and a single DC motor for the forward movement was fixed. Through implemented and first testing steps, this resolution lacked the required performance. Hence, the design changed to two DC motors, which offered a satisfactory solution.
The electronic circuit was designed with the computer aided design tool Proteus and executed as a strip line board.
The software algorithm development started with the truth table to reduce the possible events from thirty-two to the eleven applied conditions. The generated flowchart gave the program a structure and applied the truth table decision in different PWM generations. Finally, the software was written in assembler language and implemented on the PIC.
Table of Contents:
| i | Title | i |
| ii | Abstract | ii |
| iii | Acknowledgements | iii |
| iv | List of Figures | iv |
| v | List of Tables | vi |
| vi | List of Abbreviations | vii |
| vii | List of Symbols | ix |
| viii | Table of Contents | x |
| 1. | Introduction | 1 |
| 1.1 | Project Aims | 2 |
| 1.2 | RoboRama Rules | 2 |
| 2. | Specification and Analysis | 5 |
| 2.1 | Specification of the project | 5 |
| 2.1.1 | Research and definition for the project | 5 |
| 2.1.2 | Resources management | 7 |
| 2.2 | Project time plan | 8 |
| 3. | Design of the robot | 9 |
| 3.1 | Design of the electronic hardware | 11 |
| 3.1.1 | Sensors OPD 709 | 11 |
| 3.1.2 | Comparator LM 339 | 13 |
| 3.1.3 | Transistor TIP 31A | 14 |
| 3.1.4 | PIC 16F84 | 15 |
| 3.1.5 | Power Supply | 19 |
| 3.1.5.1 | Voltage Regulator 7805 | 19 |
| 3.1.5.2 | Batteries 9V | 19 |
| 3.1.6 | Prototype strip board | 20 |
| 3.2 | Design of the electromechanical components and chassis | 21 |
| 3.2.1 | Servo - Motor | 21 |
| 3.2.2 | DC - Motor | 22 |
| 3.2.3 | Chassis | 24 |
| 3.3 | Design of the software | 25 |
| 3.3.1 | Truth table | 26 |
| 3.3.2 | Flow charts | 28 |
| 3.3.3 | Assembler program | 35 |
| 3.3.3 | MPLAP software environment | 42 |
| 3.3.3.1 | Programming Interface | 42 |
| 3.3.3.2 | Programmer settings | 49 |
| 4. | Implementation of the robot system | 51 |
| 4.1 | Realisation of the robot with servo - motor and DC - motor | 51 |
| 4.1.1 | Block Structure with servo - motor and DC - motor | 51 |
| 4.1.2 | Implemented block structure with servo - motor and DC - motor | 52 |
| 4.2 | Realisation of the robot with two DC - motors | 53 |
| 4.2.1 | Block Structure with two DC - motors | 53 |
| 4.2.2 | Implemented block structure with two DC - motors | 53 |
| 4.2.3 | Implemented Circuit Board | 55 |
| 4.2.3.1 | Circuit schematic | 55 |
| 4.2.3.2 | Bill of material | 58 |
| 4.2.3.3 | Implemented circuit board | 59 |
| 5. | Testing of the Robot system | 62 |
| 5.1 | Testing the robot with servo - motor and DC - motor | 62 |
| 5.1.1 | Test of servo - motor | 62 |
| 5.1.2 | Test of servo - motor with robot | 63 |
| 5.1.3 | Conclusions of servo - motor test | 64 |
| 5.2 | Testing the robot with two DC - motors | 65 |
| 5.2.1 | Sensor position adjustment | 65 |
| 5.2.2 | Test of the Pulse Width Modulation | 66 |
| 5.2.3 | Behaviour test of the robot | 67 |
| 5.2.4 | Final T - Court test | 68 |
| 6. | Overall Project Work | 70 |
| 6.1 | Development of key skills | 70 |
| 6.1.1 | Development of the „Communications“ key skill | 70 |
| 6.1.2 | Development of the „Use of IT“ key skill | 71 |
| 6.1.3 | Development of the „Resources and time management“ key skill | 72 |
| 6.1.4 | Development of the „Independent learning“ key skill | 73 |
| 6.2 | Project risks and risks assessment | 74 |
| 6.3 | Financial Factor of the Project | 75 |
| 6.4 | Critically discussion of the project | 76 |
| 7. | Conclusions and recommendations | 79 |
| 7.1 | Conclusions | 79 |
| 7.1.1 | Project management and key skills | 79 |
| 7.1.2 | Hardware | 80 |
| 7.1.3 | Software | 81 |
| 7.1.4 | Overall Conclusions | 82 |
| 7.2 | Recommendations for further work | 83 |
| Bibliography | 84 | |
| Book Sources | 84 | |
| Datasheets | 85 | |
| Internet Sources | 85 | |
| Glossary of terms | 87 | |
| List of Appendices | 88 | |
| Appendix A | „Main Assembler Program“ | 89 |
| Appendix B | „Assembler Include Header“ | 93 |
| Appendix C | „Datasheet „Sensor OPD 704“ | 95 |
| Appendix D | „Datasheet „Comparator LM 339“ | 96 |
| Appendix E | „Datasheet Power Regulator 7805“ | 97 |
| Appendix F | „Datasheet Transistor TIP 31A“ | 98 |
| Appendix G | „Datasheet main features PIC16F8X“ | 99 |
| Appendix H | „Datasheet PIC16F8X block diagram“ | 100 |
| Appendix I | „PIC16F8X instruction set“ | 101 |
| Appendix J | „Electrical circuit schematic“ | 102 |
| Appendix K | „Time schedule of the project“ | 103 |
| Appendix L | „Adapted time schedule of the project“ | 104 |
| Appendix M | „Specification of the project“ | 105 |
| Appendix N | „Example of the „To-Do-List“ | 109 |
| Appendix O | „Example of a section of the vocabulary sheet“ | 110 |
| Appendix P | „University Deadlines“ | 111 |
| Appendix Q | „Example of the „Loan deadlines for resources at the library „ | 112 |
| Appendix R | „Example of the tutor meeting sheet“ | 113 |
| Appendix S | „Schematic of the PIC application board“ | 114 |
The new assembled rectangular chassis was in the dimension to the line bigger and on the side smaller. These opposite dimension proportions to the previous model were necessary, because the two DC motors were side by side mounted. As described in the design of the chassis at chapter 3, the sensors were mounted with a distance holder in the front and at the backside, a ball shaped wheel was added, what just followed the robot in each direction. The involved software algorithm needed as well a bigger adjustment and was in details explained at chapter 3.3. The Figure 4.4 visualized also the single front sensor mounted in the front with the obstacle stop switch. This sensor provided an early recognition of the lost line and the safety switch protected the robot and the environment for any damages. The three higher chassis points protected the circuit board for any damages and provided a stable base to turn the robot around and work on the bottom side. [...]
The mechanical chassis based on the rectangular mounted construction parts. This robot had three wheels. In the front a single wheel for the steering and at the back two wheels where the forward torque from the DC motor was transmitted over a connection rod to the wheels. The implemented system from the block structure Figure 4.1 was visible also from left to right at the robot, see Figure 4.2. Directly at the front the sensors were mounted, their signals came to the comparator on the circuit board and were transferred to the PIC. The PIC controlled the two different motors. Between the circuit board and the chassis, the batteries were positioned. The software algorithm based at this state on a start and stop for the DC motor and the pulse control for the steering of the servomotor. In the future state of this implementation, the speed of this robot should be additional controlled with PWM for the DC motor. For this parallel task the PWM should ran as the main program and in the time between the changes the inputs must be tested and the output pulses for the servomotor had to be set. [...]
The complied file was listed, the command line displayed the general settings, the location of MPLAP, and the data files were specified. The building result showed the successful building. Mistakes in the code caused an error warning and an uncompleted compiling process. The types of error with the command line were displayed. The two warning messages [302] in line 47 and 49 displayed the information that register bank switched from zero to one and back again. The special function register in Figure 3.27 showed all registers with their names and values in hexadecimal, decimal, and binary representation. The window offered with each execution in the single step mode, a detail analysis and program test. Hereby occurred the changed register and their values in red for improved recognition. [...]
In den Warenkorb
74,00 €
Link zur Arbeit:
http://www.diplom.de/ean/9783832475123
Arbeit zitieren:
Block, Steffen Mai 2003: Digital control methods for a line following robot, Hamburg: Diplomica Verlag
Schlagworte:
Projekt Management, PIC, Assembler, Electronic Hardware, Pulse Width Modulation
Entdecken Sie mehr zum Thema
