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title: Intro to Autonomous Robotics
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author: Robodarshan :)
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%%%%%
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%% Add some inline style rules...
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%css
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a {
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color: inherit;
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text-decoration: none;
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}
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h2 {
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text-align: center;
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}
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img{
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display: block;
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margin-left: auto;
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margin-right: auto
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}
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img.side {
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display: inline;
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}
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body {
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background-image: -webkit-linear-gradient(top left, silver, white);
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background-image: -moz-linear-gradient(top left, silver, white);
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background-image: -ms-linear-gradient(top left, silver, white);
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background-image: -o-linear-gradient(top left, silver, white);
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background-image: linear-gradient(top left, silver, white);
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}
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.step {
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width: 900px;
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height: 700px;
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padding: 20px 30px;
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font-size: 34px;
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text-align: left;
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opacity: 0.1;
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}
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.step.active {
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opacity: 1;
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}
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.slide {
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background: white;
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}
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code {
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background-color: yellow;
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font-size: 14px;
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}
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%end
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%%%%%%%%%%%%%%%%%%%
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%% Here we go...
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!SLIDE x=0 y=0 scale=2
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##Introduction to *Robotics*
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<img src="intro_to_robotics.jpg" width="100%" />
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<img src="robodarshan.png" width="100%" />
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!SLIDE x=2000 y=0 rotate-y=-50 scale=2
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##WELCOME EVERYBODY
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// To be replaced by live face detected image
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!SLIDE x=-2000 y=0 rotate-y=50 scale=2
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##*What is "Robot"* ?
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<img src="troll_final.jpg" width="72%" />
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!SLIDE x=0 y=-800 scale=1 z=500 rotate-x=-30
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##Let's ***Google*** it
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<img class="side" src="robot_def.jpg" width="85%"/>
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!SLIDE x=0 y=1500 rotate-x=45 scale=5
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_**admin**_ : OK **Bot**, show us what can you do ...
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_**bot**_ : I can ...
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* Learn Skills ranging from electronics, mechanics, controls, programming, etc ...
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* Work in Industry assembly lines, like a robotic arm used for car-painting, parts assembling, etc...
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<img src="industry.jpg" width="50%" />
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!SLIDE x=0 y=-1500 z=-1500 rotate-x=45 scale=5
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##Contd...
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* Function as a mobile robot such as terrestial, aerial, aquatic or hybrid vehicle
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be it manually controlled or autonomous.
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* Work in swarms to co-ordinate a task
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<img src="swarm.jpg" width="50%" />
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!SLIDE x=3500 y=1500 rotate-x=45 rotate-z=90 scale=6
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##**So, what will you learn today ?**
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How about some robotics ?
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Well, we guess you already knew that :)
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* First we'll talk about ***Manual Robotics***, the ones controlled by human (yup, that's you)
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* Then, we'll move on to autonomous bots, the ones which can perform simple tasks on their own. ( Remember Wall-E ? )
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* If time permits, we'll talk about robots with **"eyes"** (err.. cameras).
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!SLIDE x=3500 y=-4000 z=-2500 rotate-x=45 rotate-z=90 scale=4
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##Mechanical Construction
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- **Chassis**, i.e. the basic body structure (generally rectangular)
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- Preferred Material : Flex Board (25 cm x 25 cm)
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<img src="board.jpg" width="25%"/>
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- Others : Motor Clamps
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<img src="clamps.jpg" />
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!SLIDE x=4600 y=2550 scale=6 rotate-z=0 rotate-x=0 rotate-y=60 z=5000
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## **Wheels**
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- **Normal Wheels** , the ones you see in cars ... toy cars.
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<img class="side" src="all_wheels.jpg" width="25%"/>
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<img class="side" src="wheel1.jpg" width="19%"/>
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- **Castor Wheels** , a non-drivable wheel that is mounted at the bottom of a vehicle (or robot, in our case), that can move in any direction. You can find them under the ( legs of ) movable tables.
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<img class="side" src="cas1.jpg" width="20%"/>
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<img class="side" src="cas2.jpg" width="20%"/>
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!SLIDE x=5600 y=3000 z=0 rotate-x=0 rotate-y=-45 rotate-z= scale=6
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##**DC Motors**
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- Runs on DC input.
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- Types
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- **Geared Motor :**
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- Pros:
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1. Used for bringing about a change in speed, by the use of gears.
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2. Also used to change axis and direction of motion
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- Cons:
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1. No feedback mechanism.
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!SLIDE x=6000 y=4000 scale=2
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##**DC Motors (contd.)**
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- Types (contd.)
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- **Servo Motors**
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- Pros:
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- Used for high torque operations
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- Cons:
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- Costly
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<img class="side" src="motor1.jpg" width="40%" /> <img class="side" src="motor2.jpg" width="40%" />
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!SLIDE x=6200 y=4300 z=-1000 rotate-x=40 rotate-y=-30 scale=1
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##Motion Direction Control
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- H-Bridge Circuit
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- Simple electrical circuit using which you can change the polarity at the load.
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<img src="h-br.gif" width="40%" />
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!SLIDE x=8000 y=4300 z=-500 rotate-x=20 rotate-y=-45 scale=1
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- Example:
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- DPDT Switch:
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Switching device that uses H-Bridge principle to change the polarity of load and hence the motion of the motor whenever needed.
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<img class="side" src="dpdt2.gif" width="40%" />
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<img class="side" src="dpdt1.jpg" width="40%" />
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!SLIDE x=5000 y=4500 scale=10 rotate-y=0 rotate-x=-30
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##Drives
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- Types of drive we'll be using:
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- 2 wheel drive, 2 gearbox with castor wheel
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- 4 wheel drive, 4 gearbox
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- Others
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- N Wheel Drive
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- Tank Wheel Drive
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!SLIDE x=8000 y=500 z=1000 rotate-y=-15 scale=6 rotate-x=-15
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##**2 wheel drive with castor wheel**
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It has
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- 2 active wheels with gearboxes
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- 1 castor wheel for balance and free movement
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<img src="dr1.jpg" width="40%" />
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!SLIDE x=13000 y=1500 z=1000 rotate-y=45 scale=10 rotate-x=45
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##**4 wheel drive with 4 gearboxes**
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It has 4 wheels connected with 4 gearboxes for fast and agile movement
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<img src="dr2.jpg" width="40%" />
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!SLIDE x=18000 y=4500 rotate-y=65 scale=6 rotate-x=135 z=-4500
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##**Locomotion using Differential Drive system**
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bot: I wanna move...
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admin: How?
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bot: Well now that you have asked so nicely...
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- Differential Drive is one way to accomplish this
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<img src="drive.jpg" width="70%" />
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- The simplest motions (shown above) occur when all of the wheels are moving
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- Different motions are also possible if we keep one/many wheels static
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!SLIDE x=7000
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**SHOW TIME**
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We're pretty sure that you are bored to hell.
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So, here's a little treat for you.
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Sit back and enjoy :D
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!SLIDE rotate-x=00 x=5000 y=500 z=-500 rotate-y=-30
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**Question time**
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Now, Throw something at us
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Just dont throw an error :P
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%% The End
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%%%%%%%%%%%%%%%
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