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EMBEDDED SYSTEM &
ROBOTICS
Introduction to robotics
• Robots are machines capable of carrying out a
complex series of actions automatically.
• Robotics is branch of technology that deals
with the design, construction,operation, and
application of robots.
• Well it is a system that contains sensors,
control systems, manipulators, power supplies
and software all working together to perform
a task.
Essential characteristics of
a robot
A. Sensing: First of all your robot would have to
be able to sense its surroundings. It would do
this in ways that are similar to the ways that
you sense your surroundings. Giving your
robot sensors: light sensors (eyes), touch and
pressure sensors (hands), chemical sensors
(nose), hearing and sonar sensors (ears), and
taste sensors (tongue) will give your robot
awareness of its environment.
B. Movement: A robot needs to be able to move
around its environment. Whether rolling on
wheels, walking on legs or propelling by
thrusters a robot needs to be able to move. It
can move their arms, head, neck, fingers as
well.
C. Energy: A robot needs to be able to power
itself. A robot might be solar powered,
electrically powered, battery powered. The
way your robot gets its energy will depend on
what your robot needs to do.
D. Intelligence: A robot needs some kind of
"smartness" This is where programming enters
the pictures. A programmer is the person who
gives the robot its 'smartness'. The robot will
have to have some way to receive the program
so that it knows what it has to do.
Basic Elements in Robotics
• A Movable body: Robots may have wheels, limbs
connected by mechanical joints, or other types of
movable segments.
• An Actuator: In order to be activated, robots may
use an electric motor, a hydraulic system, a
pneumatic system or a combination of all the
three.
• An Electric Circuit: The electrical circuit powers
the electric motor, solenoid or valves that control
hydraulic or pneumatic systems.
• A Power source: A robot needs a power source
to drive its actuators. Electric Robots use
batteries or extension cords. Hydraulic Robots
needs pumps to pressurize the hydraulic fluid
and pneumatic robots need air compressors.
• A Reprogrammable Brain (Computer): A
computer controls all other components. In
order to change the robot’s behavior, you just
have to reprogram the computer.
• A Sensory System: Some robots have the
capability to collect the information about
their environment and react to it.
Hardware
• Microprocessor: As its name suggests, Micro
means small or tiny and Processor means a
system which can process or execute the
input data and gives output. So, simply a
microprocessor is nothing but a system which
can execute small processes.
4004 was the first Microprocessor designed by
Intel which was 4 bit.
For Microprocessor to work, it must have to have
an ALU, registers, program counter, instruction
decoder, timing & control unit. In fig. below
Microcontroller
A microcontroller is a self-contained system with
peripherals, memory and a processor that can be
used as an embedded system.
 8051 was the first Microcontroller designed by
Intel.
Difference b/w
microcontroller &
microprocessor
 Microprocessors are used to execute big and
generic applications, while a Microcontroller
will only be used to execute a single task
within one application.
Different Types of
Microcontrollers
8051 Microcontroller is mostly used in
education domain.
AVR Microcontroller is mostly used in
Education, Industrial and Small Applications.
PIC Microcontroller is mostly used in
Industrial Applications.
ARM Microcontroller is mostly used in
Automobiles, Biomedical, and Avionics.
AVR Architecture
Architecture Description of
AVR
AVR has a long family with different series. Each series
has its own features. Now, if we take a microcontroller
of mega series, then the nomenclature given by the
company for this is ATmega, that means AT is from
ATMEL and mega is the name of series. So we call it as
ATmega.
Now, if we say ATmega 16, that means it is a
microcontroller by ATMEL, of mega series which has
16 Kb of Flash Memory.
PIN Diagram
SOFTWARE
PORT PROGRAMMING
Every time when we need to connect the
external IO (Input/Output) devices like LEDs,
LCD, Switches, Motors, Relays, Sensors, etc,
we always have to have PORTS through which
we can connect the devices so that devices
gets connected with CPU or say
Microcontroller/Microprocessor.
Associated I/O Registers
1. DDRx - Data Direction Register
2. PINx- Input Pin Register
3. PORTx – Port Status Data Register
SENSORS
A sensor (also called
detector) is a converter
that measures a physical
quantity and converts it
into a signal which can be
read by an observer or by
an (today mostly
electronic) instrument.
IR Sensor
• Infrared radiation is the
portion of
electromagnetic spectrum
having wavelengths
longer than visible light
wavelengths, but smaller
than microwaves, i.e., the
region roughly from
0.75μm to 1000 μm is
the infrared region.
Infrared waves are
invisible to human eyes.
Interfacing of Sensor Module
• To interface IR Sensor
Module, we have to
take care about only 3
PINs i.e., Vcc, Data out
& Gnd.
• Two pins Vcc & Gnd
are just to activate the
module with supply.
• The 3rd Pin is the main
Data Pin on which we
have to work out.
DC Motor Interfacing
• A direct current or DC
motor is a mechanically
commutated electric
motor powered from
direct current (DC). It
converts electrical
energy into mechanical
energy.
THE END