ROBOTINO

Content:-
SL NO SUBJECT PAGES REMARKS

01  Introduction to robot.
 Types of robot
 History of robot
 Application of robot

02  Introduction to Robotino 4.

03  Specification of Robotino 4

04  Motor and controller of Robotino.

05  Omni wheel and Robotino omni wheel.

 External I/O interface.
 Question with answer.
What is a Robot ?

• A robot is a machine, especially one programmable by a computer capable of carrying out a

complex series of actions automatically. A robot can be guided by an external control device,
or the control may be embedded within.

• Or we may say that, a type of automated machine that can execute specific tasks with little
or no human intervention and with speed and precision.
TYPES OF ROBOT :-

• The six most common types of robots are:

1. Autonomous Mobile Robots (AMRs)

2. Automated Guided Vehicles (AGVs)

3. Robotic Arms

4. Cobot

5. Humanoid Robots

6. Hybrids

Autonomous Mobile Robots (AMRs)

An autonomous mobile robot is a type of robot that can understand and move through its environment
independently. AMRs differ from their predecessors, autonomous guided vehicles (AGVs), which rely
on tracks or predefined paths and often require operator oversight.

Automated Guided Vehicles (AGVs)

Sometimes called self-guided vehicles or autonomous guided vehicles, automated guided vehicles
(AGVs) are material handling systems or load carriers that travel autonomously throughout a
warehouse, distribution center, or manufacturing facility, without an onboard operator or driver.

Robotic Arms
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a
human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot.
The links of such a manipulator are connected by joints allowing either rotational motion (such as in
an articulated robot) or translational (linear) displacement.

Cobot
A cobot, or collaborative robot, is a robot intended for direct human-robot interaction within a shared
space, or where humans and robots are in close proximity. Cobot applications contrast with
traditional industrial robot applications in which robots are isolated from human contact. Cobot safety
may rely on lightweight construction materials, rounded edges, and inherent limitation of speed and
force, or on sensors and software that ensure safe behavior.
Humanoid Robots
A humanoid robot is a robot resembling the human body in shape. The design may be for functional
purposes, such as interacting with human tools and environments, for experimental purposes, such as
the study of bipedal locomotion, or for
other purposes. In general, humanoid
robots have a torso, a head, two arms, and
two legs, though some humanoid robots
may replicate only part of the body, for
example, from the waist up. Some
humanoid robots also have heads designed
to replicate human facial features such as
eyes and mouths. Androids are humanoid
robots built to aesthetically resemble
humans.

Hybrids
Hybrid robots are model-driven or insect-driven robots, or artificially driven insects. Hybrid robots
can be used for both model evaluations and biological experiments. Hybrid robots extend the role of
robots in neuroethology.
History of robot
The earliest robots as we know them were created in the early 1950s by George C. Devol, an inventor
from Louisville, Kentucky. He invented and patented a reprogrammable manipulator called "Unimate,"
from "Universal Automation." For the next decade, he attempted to sell his product in the industry,
but did not succeed. In the late 1960s, businessman/engineer Joseph Engleberger acquired Devol's
robot patent and was able to modify it into an industrial robot and form a company called Unimation
to produce and market the robots. For his efforts and successes, Engleberger is known in the industry
as "the Father of Robotics."

Application of robot
 Industrial – the main use of robots for many years

 Entertainment – increasingly more and more toys

 Military – such as UAV’s (Unmanned Aerial Vehicle), UGV’s (Unmanned Ground Vehicle),
triage and surveillance.

 Service, including dispensing food and cleaning

 Exploration, including in space

 Hazardous environments – sending robots to work where it is best for humans to stay away

 Cleaning, etc.

 Laboratory specimens

 Surgery, rehabilitation, physiotherapy, educational practise and demonstration, world skill

trades.

Introduction to Robotino 4
What is Robotino?
• Robotino is a mobile robotics platform for research and education by Festo.

• With its omnidirectional drive, sensors, interfaces and application-specific extensions, Robotino can be
used very flexibly. The most important programming languages and systems are available for
programming individual applications.

• This way, control programs can run on the external PC or on Robotino directly. Mixed mode or shared
control are also possible.

• Robotino is based on an omnidirectional drive assembly, which enables the system to roam freely. The
robot is controlled by an industry-standard PC system, which is powerful enough to plan routes for
fully autonomous driving.
Specification of Robotino 4
1. Cover of the control system
2. Battery pack
3. Grip
4. Protective cover for wheels
5. Distance Sensors
6. Master switch for the controller
7. External I/O interface
8. Camera
9. WLAN access point
10. Integration platform
11. Bumper

Grip:-
A gripper is a device which enables the holding of an object to be manipulated. The easier way to
describe a gripper is to think of the human hand. Just like a hand, a gripper enables holding

Distance Sensors:-
• Infrared distance sensors make it possible to determine the distance of objects within the
immediate surroundings of the Robotino®. The Robotino® is equipped with a total of nine
infrared sensors arranged around its base at an angle of 40° to each other.
• Each distance sensor reads out a voltage level whose value depends on the distance to a
reflective object.

External I/O interface:-

I/O interfaces are the mediums in which data are sent from internal logic to external sources and
from which data are received from external sources. The interface signals can be unidirectional or
bidirectional, single-ended or differential and could follow one of the different I/O standards.

Bumper:-
• Function :- The bumper on the Robotino ensures that program execution and thus motion as
well, is stopped in the event of a collision.

• Assembly and connection :- The bumper is attached to the bottom edge of the chassis of the
Robotino is connected to the power electronics PCB.

• Configuration :- Interruption of program execution when the bumper is switched can be

deactivated via the Robotino.

• Technology :- It is a collision safety sensor id a so – called pressure sensitive bumper. This

safety consists of a plastic profile of varied shape with an integrated switching chamber. The
switching chamber encloses two conductive surfaces which are separated from each other.
 Motor Driver
• Function :- It is equipped with three motors which power each of the three omnidirectional
wheels independently of each other. An incremental encoder is mounted on each motor and
measures its angle of rotation.

• Configuration :- Maximum speed and maximum acceleration of the motors can be

configured via the web interface.

• Assembly and connection :- The motors are connected to the motor outputs on the power
electronics PCB.

• Programming :- The motor is controlled by the micro controller. A motor speed set - point is
specified in the programming languages and systems.

Robotino Omni Drive

The three independent drive units which make up the Omni - drive consists of motors, an incremental
encoder, gear unit and wheels, and are integrated into the chassis of the Robotino.

Software opening and function of Robotino view 4 .

Step 1: Go to drive system and take out all the three motor and also the drive system.

Step 2: connect the output of Omni drive to the first point of all the three motors.

(Press ctrl+t to check the function)

Step 3: Take out the control panel from the input device.
Step 4: connect the control panel with the input of Omni drive
Operations using Timer
Step 1: Go to drive system and take out motor 1 and motor 3.

Step 2: Go to generators and take out the constant for motor 1 and motor 3 and give constant
value (between 0 to 512) .

Step 3: connect the constant to the motors.

Step 4: create a global variable in variables section and take out the writer variable .Global variable
is used to pass the parameter and also used to escape the current subprogram when condition is
true.

Step 5: Take out the timer and constant from generators and >=Operation from mathematics
(comparison operation).
Position driver & odometer

Position Driver:- Position driver is used to drive Robotino to a given position. The position driver
generates velocity and angular velocity set values to drive Robotino from actual to the set position.
Odometer:- Odometer is the use of data from motion sensors to estimate change in position over
time. It is used in robotics by some legged or wheeled robots to estimate their position relative to a
starting location.

Assignments

1. CREATE A PROGRAM TO MOVE ROBOTINO FORWARD AND MOVE

BACKWARD.
2. CREATE A PROGRAM TO MOVE ROBOTINO FORWARD FOR 5 SECONDS AND MOVE
BACKWARD FOR 5 SEC THEN STOP THE ROBOTINO.
3. CREATE A PROGRAM TO MOVE ROBOTINO FORWARD FOR 7 SECONDS AND MOVE
LEFT FOR 10 SEC AND MOVE RIGHT FOR 10 SEC THEN STOP IT.
4. CREATE A PROGRAM SO THAT ROBOTINO FORMS A RECTANGLE.
5. CREATE A PROGRAM SO THAT ROBOTINO FORMS A SQUARE.
6. CREATE A PROGRAM TO MOVE ROBOTINO LINEARLY IN ALL DIRECTION.
7. CREATE A PROGRAM SO THAT ROBOTINO FORMS A CIRCLE.
8. CREATE A PROGRAM FOR ROBOTINO IF THE SENSOR 1 SENSES ANY OBSTACLES
THEN THE ROBOTINO WILL STOP.
9. CREATE A PROGRAM FOR ROBOTINO IF THE SENSOR SENSES ANY OBSTACLES IT
WILL STOP OTHERWISE MOVE FORWARD FOR 6SEC.
10. CREATE A PROGRAM FOR ROBOTINO IF THE SENSOR SENSES ANY OBSTACLE THEN
THE ROBOTINO WAITS AND WHEN THE OBSTACLES PASSES AWAY IT STOPS AFTER
5SEC.
11. CREATE A PROGRAM FOR ROBOTINO IF ANY OF THE 9 SENSORS SENSES ANY
OBSTACLES THEN THE ROBOTINO STOPS.
12. CREATE A PROGRAM FOR ROBOTINO IF ANY OF THE SENSOR 4,5,6,7 SENSES ANY
OBSTACLES THE ROBOTINO WAITS AND WHEN THE OBSTACLES PASSES IT MOVES
FORWARD AND WHEN THE SENSOR 1,2,9SENSES ANY OBSTACLES THE ROBOTINO
STOPS.
13. CREATE A PROGRAM FOR ROBOTINO TO MOVE FORWARD AND WHEN THE
BUMPER IS PRESSED IT STOPS.
14. CREATE A PROGRAM FOR ROBOTINO WHEN SENSOR SENSES ANY OBSTACLES IT
WAITS AND MOVE FORWARD AND WHEN BUMPER IS PRESSED THE ROBOTINO
STOPS.
15. CREATE A PROGRAM FOR ROBOTINO TO MOVE 1 METER FORWARD.
16. CREATE A PROGRAM FOR ROBOTINO TO MAKE A SQUARE OF 0.5 METER.
17. CREATE A PROGRAM FOR ROBOTINO TO ROTATE 180 DEGREE WITH RESPECT TO
CURRENT POSITION.(USING POSITION DRIVER AND ODOMETER)
18. CREATE A PROGRAM FOR ROBOTINO TO MOVE 1 METER FORWARD AND TURN 180
DEGREE WITH RESPECT TO CURRENT POSITION.(USING POSITION DRIVER AND
ODOMETER)