Posts Tagged ‘robotics’

So I followed the line

September 25, 2011 Leave a comment

It’s always good to see state-of-the-art related work prior to building something. Although the line-follower is a remake project, I don’t want to just redo all the work I did before without peaking into what roboteers 7 years later have done. There are lot’s out there but I chose one really cool video an yet to be tuned PID-based design.

This is a really compact design with front and rear sensors. What’s interesting is the dual drive motor design it has. Oh, and it’s motor chassis is CNC milled custom.

Of course, at the end of the day what I am thinking of is what kind of application will be suitable for such a line sensitive robot. It seems to me that this thing can be used as an automated floor cleaner or wax applier or vacuum cleaner that can easily be incorporated into floor patterns say in restaurants, theme parks and yes even malls. The fact that customers see robots cleaning up the place makes the place an attraction. Maybe more later.


What do I have so far?

September 25, 2011 Leave a comment

I have worked with several  since my college years. My first robot was a  that was outfitted with sensors to follow a black line printed on white tarpaulin race track. I had several versions of that line-follower. The first one was based on an 8-bit microcontroller, the . They are the sponsor for an annual robot competition. Back in 2003, we were using this . Burn it and that’s it.

You are probably asking how do we optimize or test our hardware with the software we load on an OTP. The answer is it depends on whether you placed variable inputs such as switches on digital ports or ADC ports probing  values or none at all. Clearly, if the software was designed without any appropriations for variable inputs then the controller will be fixed and therefore a candidate for a push pin on your cork board when it fails to do your design task. So that’s as far as you can get with OTPs. If you want to test software prior to burning it on the chip, there is an emulator that will act as the . The drawback here is that your mobile robot needs to be connected to the emulator board by some long cabling. The cabling usually interferes with the mobility of the robot.

At that time neither  nor  microcontrollers were not yet available to us. So I worked on an analog negative feedback control version of that robot. That was easier to tweak. Also, back then as an undergraduate, use of op-amps and comparators were quite fresh from our electronics classes. So the analog version worked well completing the track even though it wiggles much. This thing though does not recognize cross tracks. Will need a microcontroller for that.

The next robot I have and am still working on is a quad rotor . My goal is to make it autonomous and fly a camera and take shots. Right now, it is controlled using fly-by-radio with attitude assists and accurate motor and rigid body models. Also, the quad rotor is a property of the university I studied in so I will be working on something new soon to continue my work.

On my next posts on the line follower, I will try to put together something similar to the robot back in 2003 only this time incorporating PID and motion kinematics for good state estimation.

On my next posts on the UAV, I will try to recreate the work that I have done and let’s see when we will be able to reach the autonomous flight goal.

Right now, the applications I have in mind for such robots are  and  trucks. In hindsight, the sensor suite on the UAV is quite robust and can be used for  and . Let’s see what else these two robots can do.

Hello world!

September 25, 2011 1 comment

Welcome to . After you read this, you should delete and write your own post, with a new title above. Or hit Add New on the left (of the admin dashboard) to start a fresh post.

Here are some suggestions for your first post.

  1. You can find new ideas for what to blog about by reading the Daily Post.
  2. Add PressThis to your browser. It creates a new blog post for you about any interesting  page you read on the web.
  3. Make some changes to this page, and then hit preview on the right. You can always preview any post or edit it before you share it to the world.

Ok, so this is my first post using wordpress. There are several basic things that I need to test:

  • I should be able to use tags like .
  • I should be able to add a photo.

  • I should be able to add a video.
  • Lastly, I should be able to add a link.

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tags: Arduino, WordPress