Mechatronics・LAB（２）
Waseda University
School of Creative Science and
Engineering
Department of Modern Mechanical
Engineering
Prof. Atsuo Takanishi
Dr. Jorge SOLIS Jorge
Copyright © 2007
Introduction
z
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
Keywords：
① PBL( Project-based Learning)
Basic experiments related to: construction of PCB, microcontroller
programming, implementation of control methods, introduction to
PID Control, etc.
Task experiments related to the construction of a robot system
② TBL( Team-Based Learning)
Teams are composed by 3 members.
Copyright © 2007
LAB1: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Construction of a printed-board circuit and confirmation of the
sensor signal processing function
R5
Voltage-Follower
9.1k
C5
4
6.8nF
V+
U1A
4
OUT
C4
1uF
MCP602-I/P
-
5
OUT1
7
+
U1B
MCP602-I/P
8
C1
0.1uF
+
75k
1.5k
8
3
6
1
V-
OUT
IN1
V+
-
R4
R1
V-
2
VCC
C2
0.1uF
VCC
Low-pass Filter
VCC
VCC
R8
R7
10k
VCC
GND
OUT2
100
VCC
C6
0.1uF
R2
VCC
150k
R10
R9
10k
R6
10k
OUT3
100
C7
0.1uF
R3
150k
VCC
C3
1uF
R12
R11
OUT4
10k
100
Circuit Diagram
C8
0.1uF
Offset Setting
Copyright © 2007
LAB2: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Control of robot motion based on tile-programming.
z Introduction to Tile-Programming by processing the input/output signals
using RoboDesigner.
z Introduction to C-Programming by processing the input/output signals using
RoboDesigner.
z Processing of sensor information using RoboDesigner.
HW Configuration
Tile-Programming
Copyright © 2007
LAB3: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Understanding the processing of digital sensors by controlling the
characteristics of an LED.
z Understanding the implementation prototype functions and the
application to control the speed of a motor by processing a digital sensor
input.
z Understanding the principle of processing an analog sensor input and
its application to the control of a motor.
z Development of a security system using RoboDesigner.
HW Configuration
Copyright © 2007
LAB4: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Control of a peripheral device a 7-segement LED using RoboDesigner
z Understanding the use of interruptions by controlling the functions of a 7Segment LED.
z Development of a chronometer.
7-Segment LED Circuit
HW Configuration
Copyright © 2007
LAB5: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Understanding the principles of control theory by using an invertedpendulum system using RoboDesigner
Parts
Qty
① Controller (RDC-101)
1
② Gear-box (RDO-501)
2
③ Communication Board (RDI-301)
1
④ Universal Plate (RDP-801)
2
⑤ Universal Caster (RDP-806)
2
⑥ Pole （１ｍ）
1
⑦ Pole’s mounting
2
⑧ Rotary Sensor (ＲＤＣ－５０６)
1
⑨ Filter circuit
1
Inverted Pendulum’s Prototype
Copyright © 2007
LAB5: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
⑦ Pole’s mounting
③ Communication Board
① Controller
回転軸
⑨ Filter Circuit （LAB1）
⑧ Rotary Sensor
Copyright © 2007
LAB5: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
⑥ Pole
② Gear-Box
Rotation
Axis
⑤ Universal Caster
Copyright © 2007
LAB6: Experiment Contents
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
z Lab２～５の基礎・課題実験を想起して、マイコンによるLFロボット（Line
Following Robot）の制御プログラムを製作する.
z LFロボットはRoboDesignerの製品を組み立てる.
z 走行テストをして各部やプログラムの調整をする.
Parts
LFロボットのプロトタイプ
個数
① Motor
2
② ＩＲ Sensor
2
③ Controller
1
④ Communication Board
1
⑤ Universal Plate
2
⑥ Universal Pillar
2
⑦ Universal Caster
2
⑧ Cable
5
⑨ 7-Segment LED
1
Copyright © 2007
LAB6: Experiment Contents
Line-Following Robot’s Prototype
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
Copyright © 2007
LAB6: Experiment Contents
⑨ 7-Segment LED
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
⑧ Cable
Universal Pillar
⑥⑥ ユニバーサルピラー
③ Controller
②
Sensor
② ＩＲ
ＩＲセンサ
④ Communication
Board
⑦ Ball-Caster
⑤ Universal Plate
① Motor
モータ
Line-Following Robot’s Prototype
Copyright © 2007
Robot Contest
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
The objective of the contest is to develop a line-following robot using
RoboDesigner.
z Each team must build one LF-Robot.
z The LF-Robot must use the microcontroller included on the RoboDesigner kit.
z The contest consist on building a LF-Robot which should move from the
START to the FINISH as fastest possible.
z
Copyright © 2007
Robot Contest
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
In relation to the robot contest, the LF-Robot must be built using the
RoboDesigner Parts.
z In principle, the LF-Robot body characteristics are fix; however, additional
parts can be used (confirmation from the instructor).
z The LF-Robot power supply is fix to +9V.
z Every team can try the line course three times using their robot during the
contest.
z The fastest timing among the three trials is used for the final result.
z The dimensions of the robot’s body are fix and those are based on the
dimensions of the universal plate (Dimensions: 155x155mm, Height: 3mm).
z The 7-Segment LED should be connected using a breadboard to the LFRobot in order to display the internal status of the robot.
z The timing is measured from the START line to the FINISH line.
z In case the robot goes out of the line course, the trial is missed.
z
Copyright © 2007
Robot Contest
Screenshots of Line-Following Robot developed by students
Dept. of Modern
Mechanical Engineering
Mechatronics・LAB(2)
Copyright © 2007
END
Copyright © 2007