Robotics & Cybernetics Assignment -

Assignment 1 - Requirements

SECTION A - MAZE SOLVING ROBOT

The aim of this project is to programme Formula AllCode robot (or similar robotic platform) to solve a 5x5 maze shown in Figure 1. Addition of different sensors to the robot or adding landmarks to the maze is allowed. The robot must start from identified location and finish at the located location. A black line is drawn on the surface to show the finish line when the robot must stop. The robot must travel through the maze in less than 5 minutes.

Extra marks will be awarded if you can show that the robot has learned how to solve the maze after the second/third attempt. This will require avoiding dead end sections.

SECTION B - FOLLOW THE LINE

You are expected to programme a robots to follow a black circle line drawn on the floor. The start and stop positions are shown in Figure 2. The robot should be placed in the start position and it will wait until a clap sound is identified. The robot should stop when a gap is identified. The circle diameter is 55 cm.

The total travel time should be displayed on the LCD screen.

You are expected to implement at least two different algorithms. For example you could incorporate P, PD or PID controllers to reduce the total travel time.

As an extra feature, a mobile app could be developed to display the approximate position of the Robot. It could also display the total travel time.

Report - Submit a formal written technical report of not more than 2500 words. The report should give a full description of the algorithms developed and your approach to solving the mission. The report should be self- explanatory and provides an introduction for the readers. Please include only important results in your report.

Assignment 2 - Requirements

SECTION A - ROBOT ARM KINEMATICS

Consider the following sequence of rotations and translations:

• Rotate by φ = 45^o about the current x-axis.
• Rotate by ψ = 30^o about the world x-axis.
• Translation a = 2 along world z-axis.
• Rotate by θ = 60^o about the world y-axis.
• Translation b = 1 along current x-axis.

Write the matrix product that will give the resulting homogenous transformation matrix. Calculate the resultant transformation matrix.

SECTION B - INVERSE KINEMATICS

Consider the planar robots shown in Figure 1 where a1 = a2 = 35 cm. To move the joint O₂ from position A = [10 50] to B and then to C = [50 10] and D, how the joint angle θ₁(t) and θ₂(t) should be altered. Please comment on possible solutions and how the best solution is selected. For the selected solution, draw both θ₁(t) and θ₂(t) as a function of time.

Robot dynamics and speed of joint movement is NOT important for this question.

SECTION C - ROBOTICS RESEARCH

Describe the following terms and explain how that are used in a robotic application.

• PWM (Pulse Width Modulation) for Speed control
• Reflective Optosensors
• Motion Planning

SECTION D - ROBOTICS RESEARCH

Select only one of the following research areas and prepare a short survey of the existing literatures in the selected area. Research areas are;

• Robotics in Healthcare
• Robotics and Automation
• Assistive Robotics
• Swarm Robotics
• Biomimetic and Cognition Robotics
• Robotic Rehabilitation.

The survey should include existing technologies and solutions and challenges that researchers are currently taking on. In your report critically evaluate existing solutions. In addition to your report for this section, you are required to have a short presentation to explain about your findings and chosen research topic.

Note - Need an algorithm and technical report of 2500 words.

Attachment:- Assignment Files.rar