modul bioloid
TRANSCRIPT
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