modul bioloid

Digubal Oleh:

Ahmad Zulaifuddin B. Mohamed (Kuantan)

Arif Junizam Bin Kornain (Batu Pahat)

Farizwa Ibrahim (Pontian)

Jamilah Bt Mohamed Jamil (Kuching)

Mohd Ali B. Mohd Yusof (Parit)

Nurul Ain Bt Daud (Kota Putra)

Wan Rohani Binti Harun (Taiping)

Diedit Oleh:

Ithnaini Muhamed Kamil (BPM)

Konsultan:

En. Saiful Azmi Bin Hamzah dari Astana Digital Sdn. Bhd (013 6202657)

Kurikulum

MODULE OBJECTIVE ACTIVITIES EXAMPLE1 Pengenalan 1. What is robotics

2. Controller Bioloid CM510,530

3. Roboplus (task, motion, manager)

Refer attachment 1Refer module page 5-7

Refer to module page 15

Motor 1. What is motor/DXL2. Function: motor/DXL3. DXL port4. Control speed5. Control goal position

Refer to module page 26-27(Lab 5)

Sensor 1. What is sensor1. IR2. DMS

IR – sensitive to colourDMS – to determine distance between 10 cm – 80 cm

Remote control 1. IR/ zigbee Refer page 8-11

2 Humanoid Biped construction

Do’s and don’ts

Battery care & maintenance

Technical skills

3 Basic bipedal programming

Flow chart programming

Simple walking programming

Ready coded

Assembly checking

Sensor checking

Wireless connection

2. IR

3. Zigbee

Part check list Refer to Bioloid Premium Kit User’s Guide

4 Competition :

Prison Break Humanoid

1. Track Check the latest IRO rules and regulations(Can check at www.physics.webege.com- will be updated later.)

2. Sensor Calibration 3. Reading 4. Display

5. Run competition

6. Sharing session Students and teacher can discuss problems or sharing the idea at forum www.physics.webege.com

5 Enrichment Humanoid Simple behaviour1. Walking2. Sitting3. PumpingAdvanced behaviour1. Dancing 2. Stairs climbing

Get programming example from the internet and ask student to try the program or modify them

ATTACHMENT 1 : What is Robotic?

Pengenalan: Apa itu robotik?

Alat yang ada di dalam sistem robotic : Controller, Sensor, Motor, Pengaturcaraan logik , Sumber Kuasa.

Controller

- Unit pemprosesan utama (CPU). Berperanan menerima maklumat (Sense) , memproses maklumat (Think )berdasarkan aturcara dan melaksanakan arahan (Act)

Sensor

- Alat yang menukar ukuran persekitaran (environmental variable) kepada isyarat elektrik yang boleh dibaca oleh Controller

Motor / Actuator /DXL

MODULE 1

- Alat yang melaksanakan arahan yang diterima dari controller .

Bioloid Premium System

CM530

Hardware Overview

Diagram

Roboplus Task

Perisian ini digunakan untuk menulis aturcara logik. Aturcara logik ini akan dimasukkan (embed) ke dalam CM530. CM530 akan memproses maklumat berdasarkan aturcara logik ini dan menghasilkan tindakan/keputusan.

Lab 0 : Hardware Setup , Software Basic Structure: Start/Endless Loop , Compiling, Downloading

Lab 1: Aux LED ON/OFF (Digital Output)

Lab 2 : Press a push button (Digital Input)

AX-12A Motor Interfacing

- Daisy Chain Connection, Torque, Motor Speed, Motor Position, Wheel/Joint Type

- Lab

DMS Interfacing, IR Sensor

- Reading Analogue Signal

- Lab

Wireless Communication

- Zigbee, IR, Bluetooth

- Lab

Biped Robot Construction

- Procedural, House Keeping, Robot Assembly and Testing

Roboplus Motion

- Why we need Roboplus Motion

Maintenance

Roboplus Manager (CM530 Controller Firmware Refresh, AX-12A Motor Properties)

Dynamixel Wizard (Motor Firmware Refresh Function)

Lipo Battery Operation

Controller Bioloid CM510,530

CM 510 Controller

CM 530 Controller

Connecting power via adaptor power supply

Replace a fuse of CM 530 controller

Connect the CM 510 to PC

Connect the CM 530 to PC

RC100A – Wireless remote control

RC 100A – Case of IR communication

RC 100A – Setting channel use (for IR only)

RC 100A – Case of Zig – 100A communication

Connect ZIG110A to CM530/CM510

Receiver ZIG110A pin mapping

Additional info for Zig100A/Zig110A

Battery Management

1. How to charge the battery?

2. When to charge the battery?

Dynamixel (DXL)

3. The actuator of a robot

4. Addressing EEPROM

5. Addressing RAM

RoboPlus Task With CM 530 Controller

6. RoboPlus TASK is the part of the software in RoboPlus

Introduction to RoboPlus

RoboPlus installation

Types of instruction available in RoboPlus task

1. Execute RoboPlus Task program

2. Selecting appropriate controller

3. RoboPlus task environment

RoboPlus Task Programming With Example

Lab 1: On Aux LED

Lab 2: Push Button and LED

This program will program the U button to turn the AUX LED on and the D button to turn it off. Pressing the START button will end the program.

Lab 3: Play melody with buzzer

Lab 4: Clap sensor

Lab 5: Dynamixel – Position and speed control

Lab 6: Distance measuring sensor (DMS)

Lab 7: Play with range and control DXL (DMS)

Lab 8: RC100 – Wireless control with Infra Red