The scope of the study will primarily be on the design and implementation of the robot from scratch or little knowledge. The specifications of the motor largely depend on the type of load that the robot will carry. Some circuitry will be needed to check the voltage status of the robot and also the charging of the batteries on the robot.
The microcontroller will be able to make a small decision which will ultimately control the movement of the robot base in the environments. The second half of the project is focused on sensors and also on implementing the algorithm for the robot to be autonomous. This is the weight including the weight of the robot that will be moved by motors or other mechanisms.
Because the size of the robot is relatively large, another failsafe will be put in place, such as remote off. With further manipulation, the data can be used for other, more intelligent control of the robot.
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The robot will be powered by two independent DC motors, which are mounted on the robot's structure by the shaft connecting the tires and the gearbox. This unreliable mounting method has been the cause of the misalignment of the robot's movement. The distance value is also used in error correction codes to improve the robot's accuracy.
This sensor will be able to tell which side of the robot has the obstacle. From the output of the sensors, certain maneuvers can be obtained so that the robot is able to avoid. The sensor is used to guide the robot so that the error rate can be further reduced.
The way the robot moves depends on the algorithm used inside the microcontroller. If it encounters an obstacle while moving to the right, the robot will try to move to the left. The RMS is developed so that the user is able to plot the path of the robot to move.
Grippers, hands are actuators that can be included in the further improvement of the robot.
CONCLUSION
The software support for this mobile project actually exceeds the project's goals. This software works not only to be used to upload data to the microcontroller, but also to be used to debug the mobile robot. The worst thing is that the reliability of the solution will depend on the state of the structure during the run.
In the future, it is best that the structure is properly designed and that all loose ends are properly tied up. Overall, the mobile robot achieved its goal very well and even provided valuable data for future projects in this field. The mobile robot manages to move from one point to the next with minimal error and can also avoid obstacles in its path.
The charging feature of this mobile robot is a first in this university and may be further developed in the future. There are many hurdles to overcome before a viable robotics platform is available in the home. This mobile robot project and all the other projects before it will be the stepping stone for future engineers to develop new and better robotics.
With the current design and available components, the project's goals have been achieved. 13] http://www.mstracey.btinternet.co.uk/pictutorial/picmain.htm [14] http://www.galileo.org/robotics/design.html. The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for con- BLOCK DIAGRAM.
1;15 2;19 Sense A; Sense B Between this pin and ground, the sense resistor is connected to control the load current. 2;3 4;5 Out 1; Out 2 exits of bridge A; the current flowing through the load connected between these two pins is monitored at pin 1. 6;11 8;14 Enable A; EnableB TTL Compatible Enable Input: The L state disables bridge A (enable A) and/or bridge B (enable B).
The current flowing through the load connected between these two pins is monitored on pin 15. Timer!: 16-bit timer/counter with prescaler, can be incremented during SLEEP via an external crystal/clock.
PIC16F87X
The reference manual should be considered as a supplementary document to this data sheet and is highly recommended reading for a better understanding of the device architecture and the operation of the peripheral modules. RA5 can also be an analog input4 or a slave selection for a synchronous serial port. RC1 can also be Timerl oscillator input or Capture2 input/Co mpare2 output/PWM2 output.
RC3 can also be the synchronous serial clock input/output for both SPI and l2C modes. TTL = TTL input ST = Schmitt Trigger input when configured as an external interrupt, . when used in Serial Programming Mode. . when configured as general I/O and a TTL input when used in the Parallel microprocessor bus). Not used.
The reference manual should be considered a supplemental document to this data sheet and is recommended to be read extensively for a better understanding of the device architecture and peripheral operation.
PIC16F84A
Additional information can be found in the PICmicro™ Mid-Range Reference Manual (DS33023), which can be downloaded from the Microchip website.
Y^HXI RA3:RA0
TTL = TTL input ST = Schmitt Trigger input when configured as external interrupt, input when used in serial programming mode.
