First Workshop Presentation
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The document introduces the Technology Robotix Society (TRS) of IIT Kharagpur, which aims to advance robotics education. It discusses that TRS started in 2001 and organizes the annual Robotix festival, which has grown significantly over the years with thousands of participants. TRS conducts workshops across India to spread robotics and supports projects like autonomous vehicles, bipedal robots, and applications on the Microsoft Robotics Studio platform.
First Workshop Presentation
- 1. Welcome To The Introductory First Year Workshop www.robotix.in
- 3. Technology Robotix Society was formed in 2001 with the aim of providing education pertaining to the field of Robotics to the students of IIT KGP. They started out by forming K.R.A.I.G. and then, conducting the Robotix fest. www.robotix.in
- 4. Aim Technology Robotix Society, TRS is a society dedicated to the advancement of robotics in IIT Kharagpur and beyond. We are a society that boasts of a dedicated team which works extensively in these disciplines and helps spread it in form of intra and inter collegiate workshops. TRS is expanding its vistas with many more external workshops all over India, which have met with phenomenal response in the past. We continue to strive for excellence in this pursuit of spreading robotics and paving the way for world class robotics R&D in India. www.robotix.in
- 5. ROBOTIX 2007 Over 1500 Participants 546 Teams International Participation Online Submission from Universities like Princeton, Stanford www.robotix.in
- 6. ROBOTIX 2008 Over 3750 Participants 1060 Teams 63 Colleges www.robotix.in
- 7. ROBOTIX 2009 Over 3000 Participants 900+ Teams First outdoor autonomous event in India First event based on Microsoft Robotics Studio platform . www.robotix.in
- 8. ROBOTIX 2010 A golden decade of ROBOTIX completed. 8MileX continues with a grander challenge. First ever underwater Robotics event in India. Dynamic problem statement introduced in TribotX. Manual and Autonomous Robotics combined in Xtension . www.robotix.in
- 9. At a glance… www.robotix.in
- 10. At a glance… www.robotix.in
- 11. At a glance… www.robotix.in
- 12. At a glance… www.robotix.in
- 13. New Frontiers In Robotics Aerial Robotics Underwater Exploration www.robotix.in
- 14. Machine Vision / Image Processing Bio-mimicry www.robotix.in
- 15. Kharagpur Robotics and Artificial Intelligence Group www.robotix.in
- 16. K.R.A.I.G The Kharagpur Robotics and Artificial Intelligence Group is the premier group which looks after the development of studies related to robotics in IIT Kharagpur. www.robotix.in
- 17. K.R.A.I.G Projects Undertaken Autonomous Ground Vehicle For Low Intensity Conflict Biped - KEB 1.0 SkeLKeT - Quadraped Virtual Eye - Ultrasonic Mapping 8Mile Autonomous Car Parking Maze Solution using Path Planning Simulation Tele-Robotics Micromouse Soccer Bots Microsoft Robotics Studio Applications www.robotix.in
- 18. Over the past two years we have conducted workshops in BIT Mesra, NIT Rourkela, ISM Dhanbad, Bhubaneswar, Bhilai and numerous other colleges. Workshops www.robotix.in
- 19. Events 2011 R.A.F.T. Pirate Bay Ballista The Fugitives RoboCop The Negotiators www.robotix.in
- 20. Robocup is a premier organization which aims to build a team of Robots so that “ By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup. ” The organizations hold League matches in various countries and the RoboCup World Championship . www.robocup.in
- 21. Part I : Basic Machine
- 22. Basic Parts Of A Mobile Robot Locomotion system Power supply system Actuators Sensory devices for feedback Sensor Data processing unit Control system Copyright © Robotix Team, IIT Kharagpur
- 23. Locomotion System As the name suggests a mobile robot must have a system to make it move This system gives our machine the ability to move forward, backward and take turns It may also provide for climbing up and down Copyright © Robotix Team, IIT Kharagpur
- 24. Locomotion System The concept of locomotion invariably needs rotational motion e.g. a wheel driven by some power source This involves conversion of electrical energy into mechanical energy, which we can easily achieve using electrical motors The issue is to control these motors to give the required speed and torque Copyright © Robotix Team, IIT Kharagpur
- 25. Power, Torque and Speed A simple equation: Power is the product of Torque and Angular velocity P = ζ X ω This implies that if we want more torque (pulling capacity) from the same motor we may have to sacrifice speed and vice versa Copyright © Robotix Team, IIT Kharagpur
- 26. Another Simple Relation The DC motors available have very high speed of rotation which is generally not needed. But what they lack is torque output. For reduction in speed and increase in pulling capacity we use pulley or gear systems These are governed by: ω 1 X r 1 = ω 2 X r 2 Copyright © Robotix Team, IIT Kharagpur
- 27. Wheeled Locomotion Systems Differential drive Car type drive Skid steer drive Articulated drive Synchronous drive Pivot drive Dual differential drive Copyright © Robotix Team, IIT Kharagpur
- 28. Differential Drive Most commonly used Simplest and easiest to implement It has a free moving wheel in the front accompanied with a left and right wheel The two wheels are separately powered When the wheels move in the same direction the machine moves in that direction Turning is achieved by making the wheels oppose each other’s motion, thus generating a couple Copyright © Robotix Team, IIT Kharagpur
- 29. Differential Drive Cont… Black arrows denote the direction of wheel. The green ones show robot movement Copyright © Robotix Team, IIT Kharagpur
- 30. Differential Drive Cont… In-place (zero turning radius) rotation is done by turning the drive wheels at the same rate in the opposite direction Arbitrary motion paths can be implemented by dynamically modifying the angular velocity and/or direction of the drive wheels Total of two motors are required, both of them are responsible for translation and rotational motion Copyright © Robotix Team, IIT Kharagpur
- 31. Differential Drive An Analysis Simplicity and ease of use makes it the most preferred system by beginners Independent drives makes it difficult for straight line motion. The differences in motors and frictional profile of the two wheels cause them to move with slight turning effect The above drawback must be countered with appropriate feedback system. Suitable for human controlled remote robots Copyright © Robotix Team, IIT Kharagpur
- 32. Car Type Drive Copyright © Robotix Team, IIT Kharagpur
- 33. Skid Steer Drive Copyright © Robotix Team, IIT Kharagpur
- 34. Articulated Drive Copyright © Robotix Team, IIT Kharagpur
- 35. Synchronous Drive Copyright © Robotix Team, IIT Kharagpur
- 36. Pivot Drive Copyright © Robotix Team, IIT Kharagpur
- 37. Power Supply System Suitable power source is needed to run the robots Mobile robots are most suitably powered by batteries The weight and energy capacity of the batteries may become the determinative factor of its performance Copyright © Robotix Team, IIT Kharagpur
- 38. Using Pulleys r 1 r 2 ω 1 ω 2 Motor Wheel ω 1 r 1 = ω 2 r 2 => ω 2 = ω 1 r 1 / r 2 τ 1 ω 1 = τ 2 ω 2 => τ 2 = τ 1 ω 1 / ω 2 => τ 2 = τ 1 r 2 / r 1 Thus we get reduction in speed and increased torque. Hence our machine is able to cross over obstacles easily and also pull more load Belt Belt
- 39. Multi Pulley Systems Motor Wheel Intermediate Pulley ω 1 ω 2 ω 3 ω 1 r 1 = ω 3 r 2 => ω 3 = ω 1 r 1 / r 2 τ 1 ω 1 = τ 3 ω 3 => τ 3 = τ 1 ω 1 / ω 3 => τ 3 = τ 1 r 2 / r 1 ω 3 r 1 = ω 2 r 2 => ω 2 = ω 3 r 1 / r 2 τ 2 ω 2 = τ 3 ω 3 => τ 2 = τ 3 ω 3 / ω 2 => τ 2 = τ 3 r 2 / r 1 => τ 2 = τ 1 r 2 2 / r 1 2 Hence for n pulley system => τ 2 = τ 1 r 2 n / r 1 n r 1 r 2 r 2 r 1
- 40. Features of Pulley System Simple and easy to use Flexible rubber belts make the job easier Maximum torque restricted by friction limits Very high torque system cannot be achieved
- 41. www.robotix.in Be there : Venue : Kalidas Auditorium, Ramanujam Complex Date : 8 th August Time : 5:30 pm For another exciting foray into ROBOTICS! Visit : www.robotix.in
Editor's Notes
- #15: Machine Vision / Image Processing 4. Artificial Intelligence / Logics