College of Engineering – Math & Science Department

3rd Trimester AY 2020-2021

MECH643- Robot Kinematics, Dynamics and Controls

Prepared By: HAIDER ALRAYES

KHALED ABDULLAH

AHMED SALEM BA-ABED

RASHED BEN GUBAER

STUDENT NO: BH18500304

BH18500618

BH18500642

BH18500641

Instructor :DR SATHEES KUMAR

Lab Simulation
Introduction:
The modern definition of a robot can be an electro-mechanical device which follows a set of
instructions to carry out certain jobs, but literally robot means a ‘slave’. Robots find wide
application in industries and thus are called there as industrial robots and in sci-fi movies as
humanoids. Ultrasonic sensors can be used in many ways. It can be used to stop or start a
motor by either pressing it or releasing after pressing. As this is considered as a sensor, it can
also be used as a push button where you can manipulate the motor depending on how you
would like to command the robot you built.

Exercise Tetrix Robotics Kit with data sheets / LabView

Objectives
1. To undertake kinematics analysis of robot manipulators and understand the importance of
robot dynamics.
2. Understand and be able to apply a variety of techniques to solve problems in areas such as
robot control and navigation
3. Able to design and fabricate a robotic arm using Tetrix Robotics Kit that can be used for
various applications
with specific requirements.
4. To be able to program a robot to perform a specified task (e.g obstacle avoidance or wall
following) in a target environment.

Required Components
Tetrix Robotics Kit with data sheets / LabView
Form a group of three students and perform the lab activity
Program
The modern definition of a robot can be an electro-mechanical device which follows a set of
instructions to carry out certain jobs, but literally robot means a ‘slave’.
Robots find wide application in industries and thus are called there as industrial robots and
also in sci-fi movies as humanoids. This and coming articles will provide an introduction to
the Robotics.

Aim/Objective
1. Build a prototype of an autonomous vehicle to drive through a hazardous environment to
perform a rescue
operation.
a. Prototype a rescue vehicle using the LEGO MINDSTORMS NXT kit, which includes
the ultrasonic
sensors and servo motors
b. Program the NXT brick using LabVIEW Education Edition (LVEE) for the following
tasks.

i. Activate the servo motor to drive the vehicle forward for 100 cm
ii. Turn right 90° and move forward for certain distance,
iii. Turn Right 90° and move forward for certain distance,
iv. Turn right 90° and move forward for certain distance.
c. If the ultrasonic sensor detects any obstacle the motors should stop.
d. Repeat the sequence of operation and use suitable while loop and case structures for the
vehicle to drive
for the above mentioned tasks

2. Make suitable connections for the rescue vehicle using different sensors, run the
simulation and explain its working
for the above mentioned tasks.
3. Interpret the output of the designed autonomous vehicle.
4. To learn how to use ultrasonic sensor
5. To learn how to implement it through LabView
6. To learn how to let the Robot drive in a straight line and make a square
7. To be able to perform task by programming a robot using software called “LabView”
8. To be able to make use of ultrasonic sensor to control the motors and carry out its job in
this lab activity
9. To make use of motor command and manipulate its values to control the speed and
direction of the motor.
10. Build a prototype of an autonomous vehicle to drive through a hazardous environment to
perform a rescue operation.
a. Prototype a rescue vehicle using the LEGO MINDSTORMS NXT kit, which
includes the ultrasonic sensors and servo motors
b. Program the NXT brick using LabVIEW Education Edition (LVEE) for the
following tasks.
i. Stop the motors when the ultrasonic sensor detects any objects.
11. Make suitable connections for the rescue vehicle using different sensors, run the
simulation and explain its working for the above-mentioned tasks.
12. Interpret the output of the designed autonomous vehicle.
Theory
Touch Sensors are the electronic sensors that can detect touch. They operate as a switch when
touched. These sensors are used in lamps, touch screens of the mobile, etc.
Touch sensors offer an intuitive user interface.
Touch sensors are also known as Tactile sensors. These are simple to design, low cost and are
produced in large scale. With the advance in technology, these sensors are rapidly replacing
the mechanical switches. Based on their functions there are two types of touch sensors-
Capacitive sensor and Resistive sensor
Capacitive sensors work by measuring capacitance and are seen in portable devices. These
are durable, robust and attractive with low cost. Resistive sensors don’t depend on any
electrical properties for operation. These sensors work by measuring the pressure applied to
their surface. Also, we will be using the ultrasonic sensors so when it detects a object in front
of it, it should stop and then run.

Required components

1. NXT Controller.
2. EV3 Controller.
3. Tetrix Robotic Kit/Data Sheet.
4. LabView.
5. Ultrasonic Sensor.
6. Touch sensors

Procedure
 in this lab our goal was to make the robot moves by using the touch sensor &
ultrasonic so when the sensor detects a subject it will move by programming it by lab
view, and lab view is Laboratory Virtual Instrument Engineering
Workbench (LabVIEW) is a system-design platform and development environment
for a visual programming language from National Instruments.
 The graphical language is named "G"; not to be confused with G-code. Originally
released for the Apple Macintosh in 1986, LabVIEW is commiserating (OSs),
including Microsoft Windows, various versions of Unix, Linux, and macOS.
Program:

Result
The program was successful and we were able to test the touch & ultrasonic sensors.

Conclusion:
I can conclude that we can Stop the motors when the ultrasonic sensor detects any objects.
Ultrasonic sensor is very useful in controlling the robot manually and automatically. For
automatic mode, it can act as a bumper, example: when the robot bumps something,
activating the ultrasonic sensor, the robot can do a specific task to help itself in its current
condition while for the manual mode, you can control the robot’s motor to rotate however
you want (speed, direction, on/off). Although Today we find most robots working for people
in industries, factories, warehouses, and laboratories. Robots are useful in many ways. For
instance, it boosts economy because businesses need to be efficient to keep up with the
industry competition. Therefore, having robots helps business owners to be competitive,
because robots can do jobs better and faster than humans can, e.g., robot can build, assemble
a car. Yet robots cannot perform every job; today robots roles include assisting research and
industry. Finally, as the technology improves, there will be new ways to use robots which
will bring new hopes and new potentials.