Robotics: Kinematics, Dynamics and applications

| August 3, 2016

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This assignment is split into two aspects, these being the development of circuitry for one of the types of navigation stated in the student specification in the uploaded Excel spreadsheet on Moodle and one for designing a robot and its environment which it will navigate within. The simulation of the sensor circuitry will take place in either MultiSIM whilst the simulation of a small autonomous robot will be designed along with its environment will be undertaken in V-REP. The robot for the latter should deploy a differential drive system whilst the other parameters you can choose yourself in order to make your design unique. Each individual must design their own system and discuss the justification of their design and why they made the decisions they did. The main areas for consideration are:

  1. The design of a sensor system based on real robotic provided in the examples from Lecture 2. When a sensor is not available within the package you have selected to use, please use an alternate approach for modelling of the component stating why you have used this as a substitution. For example, using a LDR to model an optical sensor giving the resistance when the sensor will be triggered and not. The distance for your sensor to be triggered will be provided in the attached sheet on Moodle. Once designed, you will need to simulate the circuit in MultiSIM to show that your system works as collision avoidance. You will need to develop a simulation strategy that will justify that your system works as expected.
  2. The navigation of the robot through the environment in V-REP is based on your own strategy. Students are to design their own robotic configuration, including robotic baseline, wheel diameter, wheel type, etc or may use one from V-REP as a starting and then progress onto their own. This is to allow a student to personalise their system, each student will create their own environment and will gradually progress from a basic environment to one ideally based on real life parameters.
  3. Report Write-Up: You will need to write a comprehensive report weighing up the pros and cons of your design, discussing environmental factors of each component and evolution of the design process.

 

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Chapter Two: Literature Review

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