EE403 INTRODUCTION TO ROBOTICS
2006502011 Onur ÇİNE
2006502012 Samet DEVELİ 2006502036 M.Alptuğ KIR
Project: OMNI-WHEEL ROBOT
Dokuz Eylül University
Electrical & Electronics Engineering Department
GENERAL VIEW of THE OMNI-WHEEL ROBOT CAR
In this project our goal is to understand the application of hardware and software of a Omni-Wheel Robot system. This project includes 4 DC 200 rpm gearbox motors, a PIC16F877 microcontroller, 2 L298N Dual Full-Bridge Motor Driver ICs and a regulator circuit. The special omni-wheels provide going right or left directly without turning the robot around.
OPERATION of THE SYSTEM
The operation of the circuit is based on sending related datas to the motors from the microcontroller as which directions we want them turn. Actually, the motor driver ICs are interfacing circuits to supply motors enough current. One of them drives 2 motors so, two of them are used for 4 motors. The microcontroller is lack of supplying that current to make a motor turn.
The motions of the car are:
- going forward and backward
- turning right and left
- going right and left directly
In order to achieve these behaviours, the omni-wheels types A and B are put to the related motors.
The PIC microcontroller is programmed as making the ports high and low according to the related motions which are sent to the motor driver ICs. Before implementation of the circuit, simulation design of the whole circuit is get by using Proteus ISIS.
Proteus simulation implementation is obtained with using C programming language by using CCS C Compiler.