Robot Builder pot

The 6.270 Robot Builder’s Guide Project Conceived and Developed by: Fred Martin, Pankaj Oberoi, and Randy Sargent This Document Created by: Fred Martin for the 1992 M.I.T. LEGO Robot Design Competition [...]... contain a lot of information that should be valuable in your robotbuilding endeavor Here's a brief synopsis of the organization of these course notes: Chapter 1 is the assembly manual for nearly all of the components used to construct a 6.270 robot| including the printed circuit boards, electronic sensors, motors, and battery packs Chapter 2 introduces robot motor technology Chapter 3 discusses battery technology... operation Chapter 4 discusses secret construction methods using the LEGO Technics (R) building materials Chapter 5 delves into robotic sensors, explaining the principles of operation and applications of various sensors in the 6.270 kit Chapter 6 investigates how to program a mobile robot to face up to the uncertainties and challenges of practical operation Chapter 7 is a reference manual for the C language... : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 6 Robot Control 6.1 Basic Control Methods 6.1.1 Feedback Control 6.1.2 Open-Loop Control 6.1.3 Feed-Forward Control 6.1.4 Summary 6.2 Sensor Calibration 6.2.1 Manual Sensor Calibration 6.2.2 Dealing with Changing Environmental Conditions 6.2.3 Using Persistent Global Variables 6.3 Robot Control 6.3.1 Sensor Unreliability 6.3.2 Task-Oriented... a 16-Tooth Gear and a 24-Tooth Gear LEGO Gearbox Example Wiring a Generic Sensor Sensor Input Wiring, One Sensor Voltage Divider Schematic A Typical Microswitch Robotic Platform Employing Bumper Coupled to Touch Sensor Touch Switch Circuit Potentiometer Circuit Two Optical Shaft Encoder Wheels Phototransistor and Infrared Emitter Circuit Driving along a Wall Edge Using a Bend Sensor to Measure Distance... : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : xiii 1 2 4 4 9 10 11 12 20 22 22 22 26 28 28 28 29 31 33 34 36 36 39 39 43 44 45 46 47 48 xiv CONTENTS 1.9.7 Potentiometer 1.9.8 Slotted Optical Switch 1.9.9 Hall E ect Sensor 1.10 Motor Wiring 1.10.1 The Polaroid Motor 1.10.2 Servo Motor 1.11 Computer Cable Wiring : : : : : : : : : : : : : : : : : : : : : :... Board 5.2.1 Analog Inputs 5.2.2 Digital Inputs 5.2.3 Connector Plug Standard 5.2.4 Sensor Input Wiring 5.2.5 The Voltage Divider Circuit 5.3 Tactile Sensors 5.3.1 Touch Switch 5.3.2 Bend Sensor 5.3.3 Potentiometer 5.4 Light Sensors 5.4.1 Photocell 5.4.2 Infrared Re ectance Sensor 5.4.3 Infrared Slotted Optical Switch 5.4.4 Modulated Infrared Light Detector 5.5 Other Sensors 5.5.1 Magnetism Sensor 5.5.2... digit of exponent Hence the value \472" indicates 47 102 picofarads, which is 4700 picofarads or 0.0047 F 1.2 The Microprocessor Board The 6.270 Microprocessor Board is the brains and brawn of the 6.270 Robot Controller system It uses a Motorola 6811 microprocessor equipped with 32K of non-volatile memory It has outputs to drive four motors, inputs for a variety of sensors, a serial communications port . The 6.270 Robot Builder s Guide Project Conceived and Developed by: Fred Martin, Pankaj Oberoi,. Randy Sargent This Document Created by: Fred Martin for the 1992 M.I.T. LEGO Robot Design Competition