Gyroscope Implementation On Mobile Robot.
GYROSCOPE IMPLEMENTATION ON MOBILE ROBOT
ISMAIL BIN MOHD KHAIRUDDIN
DEGREE OF BACHELOR OF MECHATRONIC
2010
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRIK
FINAL YEAR PROJECT
(FYP)
BEKU 4973
GYROSCOPE IMPLEMENTATION ON MOBILE ROBOT
ISMAIL BIN MOHD KHAIRUDDIN
DEGREE OF BACHELOR IN ELECTRICAL ENGINEERING
(MECHATRONICS)
APRIL 2010
“I hereby declared that I have read through this report entitle “Gyroscope Implementation On
Mobile Robot” and found that it has comply the partial fulfillment for awarding the degree of
Bachelor of Electrical Engineering (Mechatronic)”
Signature
: ……………………………….
Supervisor’s Name
: Encik Muhammad Fahmi Bin Miskon
Date
: ………………………………
GYROSCOPE IMPLEMENTATION ON MOBILE ROBOT
ISMAIL BIN MOHD KHAIRUDDIN
This Report is submitted in Partial Fulfillment of Requirements for the Degree of
Bachelor in Electrical Engineering (Mechatronic)
Faculty of Electrical Engineering
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
APRIL 2010
“I hereby declared that this report entitle “Gyroscope Implementation On
Mobile Robot” is the result of my own work except as cited in the references.
The report has not been accepted for any degree and is not concurrently
submitted in candidature of any other degree.”
Signature
: ………………………………
Name
: Ismail Bin Mohd Khairuddin
Date
: ………………………………
To my dearly loved father and mother
To all my lectures and friends
iv
ACKNOWLEDGEMENT
Alhamdulillah, finally the Final Year Project (FYP) report is complete. I’m taking this
opportunity to thank to whoever generously advice and assists me while I was doing my Final
Year Project (FYP) directly or indirectly.
First of all, I would like to express my deepest thanks and gratitude to my project
supervisor, Encik Muhammad Fahmi Bin Miskon for undivided support morally and
physically, gave assistance, guidance, tolerance, which proved to be invaluable as to the
completion of my Final Year Project (FYP).
I also want to thank the panels, En Ahmad Idil b Abdul Rahman and En Aminurrashid
b Noordin, for give me a good comment and developing critics during my seminar. I also
would like to take this opportunity to express my appreciation to my family and friends for
their patients, understanding and also for their undivided support that they had gave me
throughout the completion of my project.
Last but not least I also like to thank all those helping and supporting me directly and
indirectly during my Final Year Project.
v
ABSTRACT
This project basically describes about “Gyroscope Implementation on Mobile Robot”
for the needs of Robocon 2010, where gyroscope is involved for manual robots and
autonomous robot. This project basically divide into 3 main section/parts which is design the
mechanical structure (finding the centre of gravity), electrical circuit, and the controller. The
main reason this project is created is because of the needs of the robot which is able to turn in
precise, perfect and quick motion when it is given its order. The concept of this project is
using the gyroscope as device that detects the changes of degree by using the angular velocity.
The gyroscope detects the changes of degree by using the changes of angular velocity. The
signal from gyroscope is analog signal. To write the program for gyroscope, C language
programming is to be used. To convert the signal output from gyroscope, Analogue Digital
Converter (ADC) is to be used in microcontroller program and the microcontroller
PIC16F2877A and PIC18F2685 is used.
vi
ABSTRAK
Projek ini secara langsungnya menjelaskan tentang “Gyroscope Implementation on
Mobile Robot” untuk pertandingan Robocon 2010, di mana gyroscope akan terlibat dalam
robot manual serta robot automatik. Secara kasarnya, projek ini terbahagi kepada 3 bahagian
penting iaitu rekabentuk struktur mekanikal (titik tengah graviti robot), bahagian elektrikal dan
juga kawalan. Tujuan utama projek ini dihasilkan adalah untuk menghasilkan satu robot yang
dapat berpusing dengan sempurna, cepat dan apabila ia di arahkan utuk melakukan tugasan.
Konsep yang diguna pakai dalam penghasilan robot ini ialah, menggunakan sensor gyroscope
untuk mengesan perubahan sudut melalui putaran halaju. Gyroscope akan mengesan
perubahan sudut melalui perubahan putaran halaju. Isyarat yang dihasilkan oleh gyroscope
adalah signal analog. Untuk mengaturcara program, aturcara bahasa C telah digunakan. Oleh
kerana keluaran dari gyroscope adalah keluaran Analog, Penukar Analog Kepada Digital telah
digunakan dalam mikropengawal dan mikropengawal yang telah digunakan adalah
mikropengawal PIC16F877A dan juga PIC18F2685.
vii
TABLE OF CONTENTS
CHAPTER
1
2
TITLE
PAGE
ACKNOWLEDGEMENT
iv
ABSTRACT
v
TABLE OF CONTENTS
vii
LIST OF TABLES
x
LIST OF FIGURES
xi
LIST OF ABBREVIATIONS
xiii
LIST OF APPENDICES
xiiv
INTRODUCTION
1
1.1
Introduction of Project
1
1.2
Problem Statement
1
1.3
Objective
2
1.4
Scope of Project
3
1.5
Layout Project
3
LITERATURE REVIEW
4
2.1
Introduction to Gyroscope
4
2.2
Basic Operation and Types of Gyroscope
5
2.3
Application of Gyroscope
7
2.3.1
Fire Fighting Robot
7
2.3.2
Gyro-Encoder Hybrid Localization
8
viii
2.3.3
Adaptive Trajectory Tracking Control
9
of Skid-Steered Mobile Robots
2.3.4
Positioning System for 4 Wheel Mobile 11
Robot: Encoder, Gyro and
Accelerometer Data Fusion with Error
Model Method
2.3.5
2.4
3
Gyro Robot
Summary
12
13
THEORY AND BACKGROUND
14
3.1
14
LISY300AL Single-Axis
±300º/s analog output yaw rate
Gyroscope
3.2
4
3.1.1
Calibration
15
3.1.2
Sensitivity
15
3.1.3
Communication Protocol
15
3.1.4
Feature of this device
15
PIC Microcontroller
17
3.2.1
PIC18F2685
18
3.2.1
PIC16F877A
20
3.3
Interface Free Controller (IFC)
22
3.4
PIC Board Controller
23
3.5
DC Motor
24
RESEARCH METHODOLOGY
25
4.1
Determine the Signal of Gyroscope
25
4.2
Design and Simulate Circuit
26
4.3
Real Time Simulation
27
4.4
Implementation on Mobile Robot
29
4.4.1
30
Future Work
ix
5
6
RESULT, DISCUSSION AND ANALYSIS
32
5.1
Signal Obverse by Oscilloscope
32
5.2
Simulation on Proteus Software
34
5.3
Real Time Simulation
36
5.4
Mobile Robot
38
5.4.1
42
Future Work
CONCLUSION AND RECOMMENDATION
43
6.1
Conclusion
43
6.2
Recommendation
44
REFERENCES
45
APPENDICES
47
x
LIST OF TABLE
TABLE
TITLE
PAGE
3.1
Pin Description for Gyro Single Axis
17
3.2
Type of PIC18F and Characteristics
19
3.3
PIC16F87XA Characteristics
21
4.1
Input given to L298 driver for control direction of DC Brushed
29
Motor (DC Geared Motor)
5.1
The Output display in LCD during Simulation Test
35
5.2
The Result of Gyro from Ground Truth Test
37
5.3
The Voltage Measurement on DC Motor
39
5.4
The Measurement of Current on DC Motor
40
5.5
The Taken of Mobile Robot to Turning
41
xi
LIST OF FIGURES
TABLE
TITLE
PAGE
2.1
Rotary (classic) Gyroscope Operation
6
2.2
Coriolis force Principle Operation
6
2.3
Optical Gyroscope Operation
7
2.4
Fire Fighting Robot
8
2.5
Schematic of Skid-Steered Mobile Robot
10
2.6
Skid-Steered 4 Wheeled Mobile Robot
10
2.7
Design Outline for Implementation of Encoder, Accelerometer
11
and Gyro
2.8
Four Wheel Mobile Robot
12
2.9
A Gyro Balancing Robot
13
3.1
LISY300AL Single Axis
16
3.2
Block diagram for Gyro Single Axis
16
3.3
Pin connection for Gyro Single Axis
17
3.4
PIC 18F2685 28 Pins
19
3.5
Block Diagram for PIC 18F2685
20
3.6
PIC 16F877A 40 Pins
21
3.7
Block Diagram for PIC16F877
22
3.8
IFC Card
23
3.9
PIC board controller
24
4.1
Circuit Designing on Proteus to Study the Characteristics of Gyro 26
4.2
PCB board that use Test the Gyro
28
xii
4.3
Ground Truth Table for Real Time Simulation
28
4.4
Mobile Robot with Implementation on Gyro
30
5.1
The Waveform that Gyro Produced During in Stable Mode
33
5.2
The Output of Oscilloscope When Gyro has been detected
34
5.3
The output display on LCD
35
5.4
The Relationship between Voltage and Degree
36
5.5
The Result of Gyro during the Ground Truth Test
37
5.6
The Result between Actual Degrees with Degree from Gyro
38
5.7
Field for Mobile Robot Test
40
5.8
Graph Comparison on Time Taken of Mobile Robot with Gyro and
41
No Gyro Has Been Implementing on it
xiii
LIST OF ABBREVIATION
ADC
:
Analog Digital Converter
PIC
:
Programmable Intelligent Computer
UPP
:
Universal Pulse Processor
RAM
:
Random Access Memory
ROM
:
Read Only Memory
EEPROM
:
Electrically Erasable Programmable Read Only Memory
I/O
:
Input/Output
MEMS
:
Micro Electro Mechanical Systems
DC
:
Direct Current
IFC
:
Interface Free Controller
LCD
:
Liquid Crystal Display
CCP
:
Capture Compare Pulse Width Modulation
CCPR
:
Capture Compare Pulse Width Modulation Register
PWM
:
Pulse Width Modulation
PCB
:
Printed Circuit Board
GND
:
Ground
OUT
:
Output
EMF
:
Electromagnetic Field
TTL
:
Transistor-Transistor Logic
EN
:
Enable
FYP
:
Final Year Project
xiv
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
PIC16F877A datasheet
45
B
LISY 300AL single-axis ±300°/s datasheet
47
xv
CHAPTER 1
INTRODUCTION
In this section, an introduction towards project will be briefed. This chapter consists of
objective, problem statement and scope of the project.
1.1
Introduction of Project
This project is titled as “Gyroscope Implementation on Mobile Robot”. The purpose of
this project is to product a mobile robot that can be turned precisely and perfectly. To
accomplish this project divided on three parts: mechanical part, electrical part and software
part.
In the mechanical part base for mobile robot will be constructed. It includes the finding
of centre of gravity of the mobile robot. In the electrical part, the implementation of the
sensor will be done, where as the connection of driven motor to the controller board is also
included in this part.
For software part, the algorithm of the robot will be programmed in MicroC and
MPLab software. The C language will be use and will be compiled to hex file, and
PIC16F877A
PIC18F2685
has
been
chosen
for
this
programming.
2
1.2
Problem Statement
In previous Robocon competitions, the suitability of the robot(s), the efficiency of the
pilot in handling the manual robot and technology used was the key of success in solving the
problems and winning the competition.
The suitability of the robot depends to the paths that are used, the efficiency to do
turning and also what that has been programmed with. However, there will be problems faced,
when a perfect and precise turn is needed. If to be concluded from previous competition
almost every robot were not able to turn precisely and perfectly. This problem will take time
in the competition.
Other than that, most of robot that competes chooses to follow the line to finish the
task. The problem will occur when the line is not on a flat surface (e.g. a ramp) and an
obstacle is in the way. Because of the problem, it will take time. Hence, in order to solve the
problem, a gyro sensor will be used.
1.3
Objective
The objectives of this project are:
1. Design and construct a mobile robot base for gyroscope implementation.
Design a base to implement the gyroscope.
2. To implement gyroscope for mobile robot turning operation.
Construct a programming for gyroscope that focused on turning.
3. To integrate gyro for motion on other surface.
Construct the programming for gyroscope based on the surface.
4. To implement additional usage of gyro based on Robocon 2010 theme.
The programming for gyroscope is based on Robocon 2010 rule and it’s requisite.
3
1.4
Scope of Project
1. Construct a mobile robot.
2. Developing and testing the sensors (gyroscope and encoder) for mobile robot
turning.
3. Programming the controller using MikroC and MPLab C Compiler software.
4. Mobile robot is tested based on the specification of Robocon field.
1.5
Layout Project
Chapter 1: Introduction
This chapter will simply introduce about the project. This chapter contains introduction,
objectives, scope of project and problem statement.
Chapter 2: Literature Reviews
This chapter shows about the studies and research that relevant to the project.
Chapter 3: Theory and Background
The theory of the device that has been used will be state out in this chapter
Chapter 4: Research Methodology
This part will show the canvass about the research methodology used in this project.
Chapter 5: Result, Discussion and Analysis
This part will state out the result that be obtained, discussion and analysis of the result.
Chapter 6: Conclusion and Recommendation
This chapter will talk about conclusion and recommendation of the project.
CHAPTER 2
LITERATURE REVIEW
To have a briefing understanding of the researches related to the project, a few literature
reviews had been done. This chapter will describe the related literature reviews.
2.1
Introduction to the Gyroscope
Gyroscope or also called gyro is a sensor that measures the rotation velocity or rotation
rate of an object. Theoretically, a gyroscope is any device that can measure angular velocity
and primary used for navigation and also measuring the orientation based on the principle of
conversation of angular momentum of [2,13].
The early gyroscope that has been found is 1700’s, spinning devices were being used
for sea navigation in foggy conditions. The more traditional spinning gyroscope was invented
in the early 1800’s, and the French scientist Jean Bernard Leon Foucault coined the term
gyroscope in 1852 [13]. A freely rotating disk, called a rotor, was mounted on a spinning axis
in the center of a larger, stable wheel. As the earth spun on its axis, the stable wheel rotated
with it, but the rotor did not move. The movement of the mounted wheel followed the rotation
of the earth, rotating around the center disk and demonstrating the earth's spin. The gyroscope
was invented by Leon Foucault, a French physicist, in the attempt to demonstrate the earth's
rotation. [13]
5
Gyro are currently use for gaming and virtual reality input device, motion with MMI
(man- machine interface), image stabilization for digital video and digital still cameras, GPS
navigation system also for robotics.
2.2
Basic Operation and Types of Gyro
Gyro operation is differently depending on their type. Basically, gyro is has three (3)
types which is rotary (classic) gyroscope, vibrating structure gyroscope and optical gyroscope
[1, 2]. Traditional spinning gyroscopes work on the basis that a spinning object (disk) that is
tilted perpendicularly to the direction of the spin will have a precession. The precession keeps
the device oriented in a vertical direction so the angle relative to the reference surface can be
measured. The spinning object is directly mounted to the series of gimbals and the gimbals
offer the spinning disk to additional degree of freedom [1, 2, 13].
Vibrating structure gyroscope it is MEMS (Micro-machined Electro-Mechanical
Systems) which is device/sensor that is available commercially, affordable, and very small in
size [1, 2, 13]. The MEMS will convert the angular rate from gyro in different capacitive
change based on the Coriolis force. Coriolis force is when an object is moving in a periodic
fashion (either oscillating or rotating), rotating the object in an orthogonal plane to its periodic
motion causes a translational force in the other orthogonal direction [13].
Optical gyroscopes are most commonly ring laser gyroscopes. These devices send two
lasers around a circular path in opposite directions. If the path spins, a phase shift can be
detected since the speed of light always remain constant. Optical gyroscopes operate on the
principle of the Sagnac effect. Usually the rings are triangles or rectangles with mirrors at each
corner. Often optical gyroscope units consist of 3 mutually orthogonal gyroscopes for rotation
sensing about all three orthogonal rotation axes. They are also typically implemented with 3axis accelerometers thus providing full motion sensing in 6 DOF [13].
6
Figure 2.1: Rotary (classic) Gyroscope Operation
Figure 2.2: Coriolis force Principle Operation
ISMAIL BIN MOHD KHAIRUDDIN
DEGREE OF BACHELOR OF MECHATRONIC
2010
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRIK
FINAL YEAR PROJECT
(FYP)
BEKU 4973
GYROSCOPE IMPLEMENTATION ON MOBILE ROBOT
ISMAIL BIN MOHD KHAIRUDDIN
DEGREE OF BACHELOR IN ELECTRICAL ENGINEERING
(MECHATRONICS)
APRIL 2010
“I hereby declared that I have read through this report entitle “Gyroscope Implementation On
Mobile Robot” and found that it has comply the partial fulfillment for awarding the degree of
Bachelor of Electrical Engineering (Mechatronic)”
Signature
: ……………………………….
Supervisor’s Name
: Encik Muhammad Fahmi Bin Miskon
Date
: ………………………………
GYROSCOPE IMPLEMENTATION ON MOBILE ROBOT
ISMAIL BIN MOHD KHAIRUDDIN
This Report is submitted in Partial Fulfillment of Requirements for the Degree of
Bachelor in Electrical Engineering (Mechatronic)
Faculty of Electrical Engineering
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
APRIL 2010
“I hereby declared that this report entitle “Gyroscope Implementation On
Mobile Robot” is the result of my own work except as cited in the references.
The report has not been accepted for any degree and is not concurrently
submitted in candidature of any other degree.”
Signature
: ………………………………
Name
: Ismail Bin Mohd Khairuddin
Date
: ………………………………
To my dearly loved father and mother
To all my lectures and friends
iv
ACKNOWLEDGEMENT
Alhamdulillah, finally the Final Year Project (FYP) report is complete. I’m taking this
opportunity to thank to whoever generously advice and assists me while I was doing my Final
Year Project (FYP) directly or indirectly.
First of all, I would like to express my deepest thanks and gratitude to my project
supervisor, Encik Muhammad Fahmi Bin Miskon for undivided support morally and
physically, gave assistance, guidance, tolerance, which proved to be invaluable as to the
completion of my Final Year Project (FYP).
I also want to thank the panels, En Ahmad Idil b Abdul Rahman and En Aminurrashid
b Noordin, for give me a good comment and developing critics during my seminar. I also
would like to take this opportunity to express my appreciation to my family and friends for
their patients, understanding and also for their undivided support that they had gave me
throughout the completion of my project.
Last but not least I also like to thank all those helping and supporting me directly and
indirectly during my Final Year Project.
v
ABSTRACT
This project basically describes about “Gyroscope Implementation on Mobile Robot”
for the needs of Robocon 2010, where gyroscope is involved for manual robots and
autonomous robot. This project basically divide into 3 main section/parts which is design the
mechanical structure (finding the centre of gravity), electrical circuit, and the controller. The
main reason this project is created is because of the needs of the robot which is able to turn in
precise, perfect and quick motion when it is given its order. The concept of this project is
using the gyroscope as device that detects the changes of degree by using the angular velocity.
The gyroscope detects the changes of degree by using the changes of angular velocity. The
signal from gyroscope is analog signal. To write the program for gyroscope, C language
programming is to be used. To convert the signal output from gyroscope, Analogue Digital
Converter (ADC) is to be used in microcontroller program and the microcontroller
PIC16F2877A and PIC18F2685 is used.
vi
ABSTRAK
Projek ini secara langsungnya menjelaskan tentang “Gyroscope Implementation on
Mobile Robot” untuk pertandingan Robocon 2010, di mana gyroscope akan terlibat dalam
robot manual serta robot automatik. Secara kasarnya, projek ini terbahagi kepada 3 bahagian
penting iaitu rekabentuk struktur mekanikal (titik tengah graviti robot), bahagian elektrikal dan
juga kawalan. Tujuan utama projek ini dihasilkan adalah untuk menghasilkan satu robot yang
dapat berpusing dengan sempurna, cepat dan apabila ia di arahkan utuk melakukan tugasan.
Konsep yang diguna pakai dalam penghasilan robot ini ialah, menggunakan sensor gyroscope
untuk mengesan perubahan sudut melalui putaran halaju. Gyroscope akan mengesan
perubahan sudut melalui perubahan putaran halaju. Isyarat yang dihasilkan oleh gyroscope
adalah signal analog. Untuk mengaturcara program, aturcara bahasa C telah digunakan. Oleh
kerana keluaran dari gyroscope adalah keluaran Analog, Penukar Analog Kepada Digital telah
digunakan dalam mikropengawal dan mikropengawal yang telah digunakan adalah
mikropengawal PIC16F877A dan juga PIC18F2685.
vii
TABLE OF CONTENTS
CHAPTER
1
2
TITLE
PAGE
ACKNOWLEDGEMENT
iv
ABSTRACT
v
TABLE OF CONTENTS
vii
LIST OF TABLES
x
LIST OF FIGURES
xi
LIST OF ABBREVIATIONS
xiii
LIST OF APPENDICES
xiiv
INTRODUCTION
1
1.1
Introduction of Project
1
1.2
Problem Statement
1
1.3
Objective
2
1.4
Scope of Project
3
1.5
Layout Project
3
LITERATURE REVIEW
4
2.1
Introduction to Gyroscope
4
2.2
Basic Operation and Types of Gyroscope
5
2.3
Application of Gyroscope
7
2.3.1
Fire Fighting Robot
7
2.3.2
Gyro-Encoder Hybrid Localization
8
viii
2.3.3
Adaptive Trajectory Tracking Control
9
of Skid-Steered Mobile Robots
2.3.4
Positioning System for 4 Wheel Mobile 11
Robot: Encoder, Gyro and
Accelerometer Data Fusion with Error
Model Method
2.3.5
2.4
3
Gyro Robot
Summary
12
13
THEORY AND BACKGROUND
14
3.1
14
LISY300AL Single-Axis
±300º/s analog output yaw rate
Gyroscope
3.2
4
3.1.1
Calibration
15
3.1.2
Sensitivity
15
3.1.3
Communication Protocol
15
3.1.4
Feature of this device
15
PIC Microcontroller
17
3.2.1
PIC18F2685
18
3.2.1
PIC16F877A
20
3.3
Interface Free Controller (IFC)
22
3.4
PIC Board Controller
23
3.5
DC Motor
24
RESEARCH METHODOLOGY
25
4.1
Determine the Signal of Gyroscope
25
4.2
Design and Simulate Circuit
26
4.3
Real Time Simulation
27
4.4
Implementation on Mobile Robot
29
4.4.1
30
Future Work
ix
5
6
RESULT, DISCUSSION AND ANALYSIS
32
5.1
Signal Obverse by Oscilloscope
32
5.2
Simulation on Proteus Software
34
5.3
Real Time Simulation
36
5.4
Mobile Robot
38
5.4.1
42
Future Work
CONCLUSION AND RECOMMENDATION
43
6.1
Conclusion
43
6.2
Recommendation
44
REFERENCES
45
APPENDICES
47
x
LIST OF TABLE
TABLE
TITLE
PAGE
3.1
Pin Description for Gyro Single Axis
17
3.2
Type of PIC18F and Characteristics
19
3.3
PIC16F87XA Characteristics
21
4.1
Input given to L298 driver for control direction of DC Brushed
29
Motor (DC Geared Motor)
5.1
The Output display in LCD during Simulation Test
35
5.2
The Result of Gyro from Ground Truth Test
37
5.3
The Voltage Measurement on DC Motor
39
5.4
The Measurement of Current on DC Motor
40
5.5
The Taken of Mobile Robot to Turning
41
xi
LIST OF FIGURES
TABLE
TITLE
PAGE
2.1
Rotary (classic) Gyroscope Operation
6
2.2
Coriolis force Principle Operation
6
2.3
Optical Gyroscope Operation
7
2.4
Fire Fighting Robot
8
2.5
Schematic of Skid-Steered Mobile Robot
10
2.6
Skid-Steered 4 Wheeled Mobile Robot
10
2.7
Design Outline for Implementation of Encoder, Accelerometer
11
and Gyro
2.8
Four Wheel Mobile Robot
12
2.9
A Gyro Balancing Robot
13
3.1
LISY300AL Single Axis
16
3.2
Block diagram for Gyro Single Axis
16
3.3
Pin connection for Gyro Single Axis
17
3.4
PIC 18F2685 28 Pins
19
3.5
Block Diagram for PIC 18F2685
20
3.6
PIC 16F877A 40 Pins
21
3.7
Block Diagram for PIC16F877
22
3.8
IFC Card
23
3.9
PIC board controller
24
4.1
Circuit Designing on Proteus to Study the Characteristics of Gyro 26
4.2
PCB board that use Test the Gyro
28
xii
4.3
Ground Truth Table for Real Time Simulation
28
4.4
Mobile Robot with Implementation on Gyro
30
5.1
The Waveform that Gyro Produced During in Stable Mode
33
5.2
The Output of Oscilloscope When Gyro has been detected
34
5.3
The output display on LCD
35
5.4
The Relationship between Voltage and Degree
36
5.5
The Result of Gyro during the Ground Truth Test
37
5.6
The Result between Actual Degrees with Degree from Gyro
38
5.7
Field for Mobile Robot Test
40
5.8
Graph Comparison on Time Taken of Mobile Robot with Gyro and
41
No Gyro Has Been Implementing on it
xiii
LIST OF ABBREVIATION
ADC
:
Analog Digital Converter
PIC
:
Programmable Intelligent Computer
UPP
:
Universal Pulse Processor
RAM
:
Random Access Memory
ROM
:
Read Only Memory
EEPROM
:
Electrically Erasable Programmable Read Only Memory
I/O
:
Input/Output
MEMS
:
Micro Electro Mechanical Systems
DC
:
Direct Current
IFC
:
Interface Free Controller
LCD
:
Liquid Crystal Display
CCP
:
Capture Compare Pulse Width Modulation
CCPR
:
Capture Compare Pulse Width Modulation Register
PWM
:
Pulse Width Modulation
PCB
:
Printed Circuit Board
GND
:
Ground
OUT
:
Output
EMF
:
Electromagnetic Field
TTL
:
Transistor-Transistor Logic
EN
:
Enable
FYP
:
Final Year Project
xiv
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
PIC16F877A datasheet
45
B
LISY 300AL single-axis ±300°/s datasheet
47
xv
CHAPTER 1
INTRODUCTION
In this section, an introduction towards project will be briefed. This chapter consists of
objective, problem statement and scope of the project.
1.1
Introduction of Project
This project is titled as “Gyroscope Implementation on Mobile Robot”. The purpose of
this project is to product a mobile robot that can be turned precisely and perfectly. To
accomplish this project divided on three parts: mechanical part, electrical part and software
part.
In the mechanical part base for mobile robot will be constructed. It includes the finding
of centre of gravity of the mobile robot. In the electrical part, the implementation of the
sensor will be done, where as the connection of driven motor to the controller board is also
included in this part.
For software part, the algorithm of the robot will be programmed in MicroC and
MPLab software. The C language will be use and will be compiled to hex file, and
PIC16F877A
PIC18F2685
has
been
chosen
for
this
programming.
2
1.2
Problem Statement
In previous Robocon competitions, the suitability of the robot(s), the efficiency of the
pilot in handling the manual robot and technology used was the key of success in solving the
problems and winning the competition.
The suitability of the robot depends to the paths that are used, the efficiency to do
turning and also what that has been programmed with. However, there will be problems faced,
when a perfect and precise turn is needed. If to be concluded from previous competition
almost every robot were not able to turn precisely and perfectly. This problem will take time
in the competition.
Other than that, most of robot that competes chooses to follow the line to finish the
task. The problem will occur when the line is not on a flat surface (e.g. a ramp) and an
obstacle is in the way. Because of the problem, it will take time. Hence, in order to solve the
problem, a gyro sensor will be used.
1.3
Objective
The objectives of this project are:
1. Design and construct a mobile robot base for gyroscope implementation.
Design a base to implement the gyroscope.
2. To implement gyroscope for mobile robot turning operation.
Construct a programming for gyroscope that focused on turning.
3. To integrate gyro for motion on other surface.
Construct the programming for gyroscope based on the surface.
4. To implement additional usage of gyro based on Robocon 2010 theme.
The programming for gyroscope is based on Robocon 2010 rule and it’s requisite.
3
1.4
Scope of Project
1. Construct a mobile robot.
2. Developing and testing the sensors (gyroscope and encoder) for mobile robot
turning.
3. Programming the controller using MikroC and MPLab C Compiler software.
4. Mobile robot is tested based on the specification of Robocon field.
1.5
Layout Project
Chapter 1: Introduction
This chapter will simply introduce about the project. This chapter contains introduction,
objectives, scope of project and problem statement.
Chapter 2: Literature Reviews
This chapter shows about the studies and research that relevant to the project.
Chapter 3: Theory and Background
The theory of the device that has been used will be state out in this chapter
Chapter 4: Research Methodology
This part will show the canvass about the research methodology used in this project.
Chapter 5: Result, Discussion and Analysis
This part will state out the result that be obtained, discussion and analysis of the result.
Chapter 6: Conclusion and Recommendation
This chapter will talk about conclusion and recommendation of the project.
CHAPTER 2
LITERATURE REVIEW
To have a briefing understanding of the researches related to the project, a few literature
reviews had been done. This chapter will describe the related literature reviews.
2.1
Introduction to the Gyroscope
Gyroscope or also called gyro is a sensor that measures the rotation velocity or rotation
rate of an object. Theoretically, a gyroscope is any device that can measure angular velocity
and primary used for navigation and also measuring the orientation based on the principle of
conversation of angular momentum of [2,13].
The early gyroscope that has been found is 1700’s, spinning devices were being used
for sea navigation in foggy conditions. The more traditional spinning gyroscope was invented
in the early 1800’s, and the French scientist Jean Bernard Leon Foucault coined the term
gyroscope in 1852 [13]. A freely rotating disk, called a rotor, was mounted on a spinning axis
in the center of a larger, stable wheel. As the earth spun on its axis, the stable wheel rotated
with it, but the rotor did not move. The movement of the mounted wheel followed the rotation
of the earth, rotating around the center disk and demonstrating the earth's spin. The gyroscope
was invented by Leon Foucault, a French physicist, in the attempt to demonstrate the earth's
rotation. [13]
5
Gyro are currently use for gaming and virtual reality input device, motion with MMI
(man- machine interface), image stabilization for digital video and digital still cameras, GPS
navigation system also for robotics.
2.2
Basic Operation and Types of Gyro
Gyro operation is differently depending on their type. Basically, gyro is has three (3)
types which is rotary (classic) gyroscope, vibrating structure gyroscope and optical gyroscope
[1, 2]. Traditional spinning gyroscopes work on the basis that a spinning object (disk) that is
tilted perpendicularly to the direction of the spin will have a precession. The precession keeps
the device oriented in a vertical direction so the angle relative to the reference surface can be
measured. The spinning object is directly mounted to the series of gimbals and the gimbals
offer the spinning disk to additional degree of freedom [1, 2, 13].
Vibrating structure gyroscope it is MEMS (Micro-machined Electro-Mechanical
Systems) which is device/sensor that is available commercially, affordable, and very small in
size [1, 2, 13]. The MEMS will convert the angular rate from gyro in different capacitive
change based on the Coriolis force. Coriolis force is when an object is moving in a periodic
fashion (either oscillating or rotating), rotating the object in an orthogonal plane to its periodic
motion causes a translational force in the other orthogonal direction [13].
Optical gyroscopes are most commonly ring laser gyroscopes. These devices send two
lasers around a circular path in opposite directions. If the path spins, a phase shift can be
detected since the speed of light always remain constant. Optical gyroscopes operate on the
principle of the Sagnac effect. Usually the rings are triangles or rectangles with mirrors at each
corner. Often optical gyroscope units consist of 3 mutually orthogonal gyroscopes for rotation
sensing about all three orthogonal rotation axes. They are also typically implemented with 3axis accelerometers thus providing full motion sensing in 6 DOF [13].
6
Figure 2.1: Rotary (classic) Gyroscope Operation
Figure 2.2: Coriolis force Principle Operation