Design and development of microcontroller based autonomous peg placement robot

Author

Asad, Muhammad Usman ; Raza, Ali ; Farooq, Umar ; Ishaq, Muhammad Sajid ; Ahmad, Bilal

Author_Institution

Dept. of Electr. Eng., Univ. of The Punjab, Lahore, Pakistan

Volume

9

fYear

2010

fDate

9-11 July 2010

Firstpage

486

Lastpage

490

Abstract

In this paper, design and development of a peg placement robot for participating in National Engineering Robotics Contest (NERC) 2009 is presented. The robot needs to place the pre-loaded pegs in pigeon holes while navigating through a grid of white reflecting lines. The sensory system of the robot comprises of infrared sensors for line following and peg placement tasks. Twelve infrared sensors are mounted undercarriage the robot for navigation and one infrared sensor for controlling peg placement assembly. A position PI controller is designed using root locus technique for navigation of robot and implemented using AT89C52 microcontroller. Experimental results have shown the validity of the entire system.

Keywords

PI control; infrared detectors; microcontrollers; mobile robots; position control; root loci; AT89C52 microcontroller; NERC 2009; National Engineering Robotics Contest; autonomous peg placement robot; infrared sensor; infrared sensors; peg placement robot; pigeon holes; position PI controller design; root locus technique; Aluminum; Control systems; Fabrication; Mechatronics; Navigation; Robot sensing systems; NERC; PI controller; infrared sensors; peg placement robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Technology (ICCSIT), 2010 3rd IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-5537-9

Type

conf

DOI

10.1109/ICCSIT.2010.5565097

Filename

5565097