Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. A robot is usually an electro-mechanical machine that can be programmed and guided by a computer to perform tasks automatically. Isaac Asimov popularized the three laws of robotics: 1) a robot cannot harm a human, 2) a robot must obey human orders unless they conflict with the first law, and 3) a robot must protect its own existence as long as it does not conflict with the first two laws. Common robot projects include line-following robots, wall-following robots, and robots that use sensors like IR sensors, temperature sensors, and timers.

1. Robotics

2. Introduction Of
Robotics
 Robotics is the branch of technology that deals
with the design, construction, operation,
structural disposition, manufacture and
application of robots.
 Robotics is the sciences of electronics,
engineering
mechanics, and software.
 Robot and Robotics technologies represented a
practical applications of physics, computer
science, engineering and mathematics.

3. What is a Robot ?
• In practice it is usually an electro-mechanical
machine which is guided by computer and electronic
programming.
• We can not exactly define that what robot is, but we can
say that– A robot can be electrical, mechanical or electromechanical setup.
– It can be programmable or non- programmable.
– It can be Manual or automated controlled.
– It can be use to move parts and help human beings.

4. three laws of robotics
Isaac Asimov popularized the term robotics. Asimov is a
visionary who envisioned in the 1930’s the positronic brain
for controlling robots. He invented the three laws of
robotics:
1) A robot may not harm a human
through action or inaction, allow a
human to come to harm
2) A robot must obey the orders given
by human beings, except when such
orders conflict with the First Law
3) A robot must protect its own
existence as long as it does not
conflict with the First or Second
Laws

5. A robot must have the following
essential characteristics
 Mobility: It possesses some form of mobility.
 Programmability: It can be programmed to accomplish
a large variety of tasks. After being programmed, it
operates automatically.
 Sensors: On or around the device that are able to sense
the environment and give useful feedback to the device.
 Mechanical capability: Enabling it to act on its
environment rather than merely function as a data
processing or computational device (a robot is a
machine); and
 Flexibility: It can operate using a range of programs and
manipulates in a variety of ways.

6. Introduction of Embedded C
and demo programs
Development process of AVR
projects
Control structures in C
Algorithms to be studied
AVR studio

7. Embedded system
• An Embedded system is combination of
computer hardware and software, and
perhaps additional mechanical or others
parts, designed to perform a specific task.
• Example:
microwave oven, AC etc

8. What is Embedded C?
 Embedded C is nothing but a subset of C language
which is compatible with certain microcontrollers.
 Some features are added using header files like
<avr/io.h>, <util/delay.h>.
 scanf() and printf() are removed as the inputs are
scanned from the sensors and outputs are given to the
ports.
 Control structures remain the same like if-statement, for
loop, do-while etc.

9. Development process of Embedded C projects
• Write C programs in AVR Studio.
• Compile them into a .hex file using the AVR-GCC compiler
(which integrates into AVR Studio).
• Simulate the target AVR program and debug the code within
AVR Studio.
• Program the actual chip using the AVRISP mkII USB
device, which is attached to our target board with a special 6pin cable.
• Once programmed, the chip runs the program in your circuit.

10. If-statement
• Syntax:
if( condition)
{
statement…….
}
else
{
statement……..
}

11. Program for if-statement
Int a=4;
Int b=5;
If(a>b)
printf(“ a is largest”);
else
printf(“ b is largest”);

12. Do- while statement
• Syntax:
Initial counter
Do
{
statement…….
update statement
}
While(condition);

13. Program for do-while
Int a=4;
Do
{
a++;
}
while(a>5);

14. For- statement
• Syntax:
For( initial counter; test condition; update stmt)
{
statement……..
statement……...
}
• Program:
for(int i=0;i<5;i++)
sprintf(str, “Hello Robosapiens”);

15. What is a Microcontroller?
A microcontroller (sometimes abbreviated µC
or MCU) is a small computer on a single IC
containing a processor core, memory, and
programmable input/output peripherals.
It is a decision making device used widely in
embedded systems and all intelligent devices.

16. Basic Block Diagram of
Microcontroller

17. Block Diagram to show the difference

18. Difference between Microcontroller
and Microprocessor
Microcontroller has I/O ports, Memory, timers
etc all integrated on chip itself
 In Microprocessors, I/O ports, memory, timer
etc are to be connected externally

19. What is a 8-bit microcontroller?
8-bit means it can process 8-bit data per clock
cycle
It has 8-bit data bus
It can process 1byte of data at a time

20. What is AVR?
 AVR is a modified Harvard architecture , 8-bit
RISC single chip microcontroller.
It was developed in the year 1996 by Atmel
Corporation.

21. What’s special about AVR?
 They are fast.
 AVR Microcontroller executes most of the
instructions in single execution cycle.
 AVRs are about 4 times faster than PIC.
 They consume less power and can be operated in
different power saving modes.

22. Creation of AVR
Projects with AVR
studio

23. Home screen of AVR STUDIO

24. Naming project as Line follower

25. Selecting Platform and Device

26. Coding window

27. Building the code

28. Build and Run the code

29. Select the HID boot flash icon

30. Click on to the find device.

31. Click on the browse button to
browse the hex file.

32. Browse the file from your project folder ,
select the hex file and click open.

33. Finally click on to the write button
to burn the hex file in the MCU.

34. Some common
projects are:-

35. WALL
FOLLOWING
ROBOT USING
I-BOT mini V3

36. WALL FOLLOWING ROBOT
USING I-BOT mini V3
 Wall Follower using I-BOT is built using
infrared based proximity sensor module.
 The left module is used to detect the wall
on the left side of the I-BOT.
 The Left module is connected at
approximately 45 degree to the board so as
to detect the wall as shown next.

37. WALL
FOLLOWING
ROBOT USING
I-BOT mini V3
2
CASE 1
OFF
LS = ON

38. WALL FOLLOWING ROBOT LOGIC TABLE
LEFT SENSOR
MOVEMENT
ON
OFF
TURN RIGHT
TURN LEFT

39. LINE
FOLLOWER
ROBOT USING
I-BOT mini V3

40. A Line follower is an autonomous robot which follows
either black line in white are or white line in black area.
Robot must be able to detect particular line and keep
following it.
BLOCK DIAGRAM
An array of sensor is used to detect the line. Based on the
status of sensors, special circuit or controller decides the
position of line and also the required direction of motion
required to follow the line. Motor driver circuit is used to
ON/OFF the LEFT/RIGHT motors of the robot to provide
desired motion.

41. types
LINE FOLLOWER ROBOT
BLACK-LINE FOLLOWER ROBOT
WHITE-LINE FOLLOWER ROBOT

42. Programme for line
follower
#include<avr/io.h>
#include<delay/util.h>
Void main()
{
DDRA=0X00;
DDRB=0XFF;
While(1)
{
IF(PINA==0b00001001)

43. {
PORTB=0b00001001;
}
IF(PINA==0b00000001)
{
PORTB=0b00000001;
}
IF(PINA==0b00001000)
{
PORTB=0b00001000;
}
IF(PINA==0b00000000)
{
PORTB=0b0000000;
}}}

44. BLACK-LINE
FOLLOWER
ROBOT
CASE 4
Ls = OFF
CASE 3
Ls = ON
Ls = ON
CASE 1
Ls = ON
Rs = ON
Rs = ON
CASE 2
Ls = OFF
Rs = ON
Rs = OFF
Rs = OFF

45. BLACK LINE FOLLOWER
ROBOT LOGIC TABLE
LEFT SENSOR
RIGHT SENSOR MOVEMENT
ON
ON
FORWARD
OFF
ON
LEFT TURN
ON
OFF
RIGHT TURN
OFF
OFF
STOP

46. WHITE-LINE
FOLLOWER
ROBOT
CASE 3
Ls = OFF
CASE 4
Ls = OFF
Rs = ON
Rs = OFF
Ls = OFF
CASE 1
Ls = OFF
Rs = OFF
CASE 2
Ls = ON
Rs = OFF
Rs = OFF

47. WHITE LINE FOLLOWER
ROBOT LOGIC TABLE
LEFT SENSOR
RIGHT SENSOR MOVEMENT
ON
ON
STOP
OFF
ON
RIGHT TURN
ON
OFF
LEFT TURN
OFF
OFF
FORWARD

48. Current Robotic
Technologies
• Large organisations and companies reap
many benefits from robotic technologies
because:
• Robots are less expensive than paying
human workers over the long run and
robots are not prone to injure themselves.

49. Robots are currently used for situations
where human safety is an issue
• Robots are used internationally by
Police, Army, Navy and Air force
organisations
• Robotic technology is used to deal
with hazardous situations such as
dealing with suspicious packages, riots
and for the collection of foreign
intelligence
• NASA scientists use robotic technologies (Mars Explorer) to
explore other planets

50. Industrial Application
•Repetitive tasks
•High speed
•High precision movements
•Pre-planned trajectories and task policies
•Automated and no human interference required

51. SENSORS

52. WHAT IS A SENSOR….?
• A sensor is a device that measures a physical
quantity and converts it into a signal which can be
read by an observer or by an instrument.
• Sensors are used in everyday objects such as touchsensitive elevator buttons (tactile sensor) and lamps
which dim or brighten by touching the base.
• Applications include
cars, machines, aerospace, medicine, manufacturing
and robotics.

53. TYPES OF SENSORS
• IR SENSOR
• SOUND SENSOR
• TEMPERATURE SENSOR

54. IR SENSOR

55. WORKING
• IR sensor works on the principle of emitting IR
rays and receiving the reflected ray by a
receiver (Photo Diode).
• IR source (LED) is used in forward bias.
• IR Receiver (Photodiode) is used in reverse
bias.

56. VOLTAGE COMPARATOR
• A Comparator is a device which compares two
voltages or currents and switches its output to
indicate which is larger.
• Comparator is an Op-amp.

57. LIGHT Sensor Circuit

58. TEMPERATURE SENSOR

59. TIMER 555 IC

60. The 555 Timer IC is an integrated
circuit (chip) implementing a variety
of timer and multivibrator applications.

61. OPERATING MODES
• MONOSTABLE MODE
• BISTABLE MODE
• ASTABLE MODE

62. Monostable mode
• In this mode, the 555 functions as a "oneshot"
• Applications include timers, missing pulse
detection, bouncefree switches, touch
switches, frequency divider, capacitance
measurement, pulse-width modulation
(PWM) etc

63. CIRCUIT DIAGRAM IN MONOSTABLE MODE

64. Contd....
• The pulse begins when the 555 timer receives a
trigger signal.
• The width of the pulse is determined by the time
constant of an RC network, which consists of
a capacitor (C1) and a resistor (R1).
• The pulse width can be lengthened or shortened
to the need of the specific application by
adjusting the values of R and C.
T = 1.1 X R1 X C1

65. Pictorial representation

66. Bistable Mode
o In bistable mode, the 555 timer acts as a basic flip-flop.
o The trigger and reset inputs (pins 2 and 4 respectively on a
555) are held high via pull-up resisters while the threshold
input (pin 6) is simply grounded.
o Thus configured, pulling the trigger momentarily to ground
acts as a 'set' and transitions the output pin (pin 3) to Vcc
(high state).
o Pulling the reset input to ground acts as a 'reset' and
transitions the output pin to ground (low state).
o No capacitors are required in a bistable configuration
o Pin 8 (Vcc) is, of course, tied to Vcc while pin 1 (Gnd) is
grounded.
o Pins 5 and 7 (control and discharge) are left floating.

67. Astable mode
• In Astable mode, the '555 timer ' puts out a
continuous stream of rectangular pulses having a
specified frequency.
• Resistor R1 is connected between VCC and the
discharge pin (pin 7) and another resistor (R2) is
connected between the discharge pin (pin 7), and the
trigger (pin 2) and threshold (pin 6) pins that share a
common node.
• Hence the capacitor is charged through R1 and R2, and
discharged only through R2.

68. Contd....
• In the above circuit we are triggering the 555
timer by applying voltage produced by sound.
• This voltage when generated pass through the
capacitor which works as a filter.
• This filtered voltage is then fed to transistor
which is inverting the voltage and also
amplifying it.
• And hence creating a negative triggering
pulse.