Understanding Robot Definition & Controllers

Robot Definition Criteria

• Robots must sense their environment.
• Robots require a power source.
• Robots must be capable of movement.
• Robots need a control system to process information and make decisions.
• Robots should be able to make decisions or act independently to some extent.
• Robots must interact with their environment purposefully based on programming or learning.
• A robot's behavior should be modifiable through code.

Robot Controllers

• Robot controllers are the "brains" of robots, directing their actions.
• They process input from sensors.
• Controllers make decisions.
• They send commands to actuators.

Components of Robot Controllers

• Microcontrollers/processors interpret sensor data and execute instructions.
• Memory (RAM/ROM) stores the program and temporary data where ROM stores firmware and RAM handles real-time operations.
• The power supply interface converts and distributes electrical power, including voltage regulators and battery management systems.
• Input/output ports act as connectors for sensors and actuators.
• Communication interfaces enable wireless, serial, or USB communication.
• Software/embedded programs control all robot functions via uploaded code.

Robot Vocabulary

• A sensor collects information from the environment.
• An actuator is a component that causes movement.
• Degrees of freedom refer to the number of independent movements a robot can make.
• Kinematics is the study of motion used to plan robot movement, disregarding forces.
• Autonomous robots can operate without constant human control.
• Feedback is information sent back to the controller to adjust behavior.

Evolution of Robotics

• A robot is a machine designed to accomplish a task.
• In medieval times (13th century), human-like figures were created to impress worshippers.
• 1709: Jacques de Vaucanson created "The Duck," a mechanical device that could flap its wings, eat, and digest.
• 18th century: Miniature automatons were popular as toys.
• 1912: An electric dog used a light-guided missile.
• 1928: Eric Robot could turn around and move its arm.
• 1937: Elektro could walk by voice command, speak ~700 words, smoke cigarettes, blow up balloons, and move its head and arms.
• 1954: George Devol and Joe Engleberger designed the first programmable robot arm.
• 1948: Grey Walter created Elmer, an electronic tortoise that sought light and avoided obstacles.
• 1963: The Rancho Arm was the first artificial robot arm controlled by a computer.
• 1996: Honda unveiled the P-2, a humanoid robot capable of walking, climbing stairs, and carrying loads.
• 2001: MD Robotics of Canada built the Space Station Remote Manipulator System.

Impacts of Robotics Systems

• Productivity can be increased with robotics systems.
• The quality of production can benefit from robotics systems.
• Safety can be impacted by hazards like human error, control error, unauthorized access, mechanical error, and environmental sources.
• High costs are associated with robotics systems.
• The number of jobs may be negatively affected.

Arduino Platform

• Arduino is an open-source electronics platform with easy-to-use hardware and software.
• Arduino can read inputs and turn them into outputs.
• Arduino boards can be programmed with instructions.

Why Arduino?

• Arduino is inexpensive.
• It is cross-platform, running on Windows, Linux, and Macintosh OSX.
• Arduino offers a simple, clear programming environment suitable for beginners and flexible for advanced users.
• It features open-source and extensible software.
• It also has open-source and extensible hardware with board plans published under a Creative Commons license for customization.

Arduino Language and Constants

• Language: C/C++
• Constants are particular values with specific meanings.
• HIGH | LOW
• INPUT | OUTPUT

Arduino UNO Parts

• PWR IN is a power input.
• USB connects to a computer.
• RESET allows the board to be reset.
• POWER (5V, 3.3V, GND) provides different power options.
• SCL/SDA (I2C Bus) connects special sensors, like Wi-Fi modules.
• Analog INPUTS accept signals that can take on any number of values.
• DIGITAL I/O (PWM 3,5,6,9,10,11) accepts digital signals with only two values: HIGH and LOW.

Arduino Sensors and Modules

• Ultrasonic sensor: Uses sonar to measure distance, offering non-contact range detection with high accuracy
• LCD Display: Interfaces with Arduino to provide a display
• DS18B20: A temperature sensor
• SHOCK SWITCH: Detects shocks, vibrations, and impacts, and can be used in a simple LED circuit
• Hall magnetic sensor module: Detects the presence of a magnetic field
• R305 Fingerprint Sensor Module: Used in fingerprint detection devices, featuring better performance and robustness
• BUTTON SWITCH: Connects two points in a circuit when pressed
• Infrared Receiver: Photodiode and pre-amplifier that converts IR light into an electrical signal
• IR Emission
• Passive Buzzer
• Laser module: Emits a small intense focused beam of visible red light
• Humidity module: Capacitive humidity sensor and thermistor that measures humidity and sends a digital signal
• Flame sensor: Detects fire
• Photo-resistor module: Measures light intensity
• High sensitive voice sensor: Highly sensitive to sound
• Rotary encoders: Converts the angular position of a knob into an output signal
• Relay module: Acts as a switch between low-powered digital electronics and high-powered devices

Transistors

• The base is the gate controller device for the larger electrical supply
• The collector is the larger electrical supply
• The emitter is the outlet for that supply
• AND gate: Transistors in series
• OR gate: Transistors in parallel

ROS (Robot Operating System)

• A flexible framework for writing robot software.
• Provides services designed for robotic applications such as hardware abstraction, low-level device control, message-passing, and package management.
• ROS promotes code reuse.
• ROS facilitates collaboration between labs and companies.
• Provides an open-source ecosystem for the robotics community

ROS History

• 2007: ROS started as an internal project at Willow Garage.
• 2008: ROS was opened to the public.
• 2013: Willow Garage shut down; OSRF (Open Source Robot Foundation) took over.
• 2015: OSRF evolved to Open Robotics.
• 2017: ROS2 development began.