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    University Institute of Engineering Department of Mechanical Engineering

    Uploaded by

    Pratik Mishra
    1. The document describes an experiment conducted by a student to design a two-wheel line following robot using Coppeliasim. 2. The robot is programmed to detect obstacles using infrared sensors and change direction accordingly. It uses vision sensors to detect a line and calculates left and right motor velocities to follow the line. 3. The results showed that the robot successfully detected obstacles and changed its direction. The student learned about applications of robots in vehicle factories, electronic devices, dangerous environments, and entertainment.

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    © All Rights Reserved
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    University Institute of Engineering Department of Mechanical Engineering

    Uploaded by

    Pratik Mishra
    87 views9 pages
    1. The document describes an experiment conducted by a student to design a two-wheel line following robot using Coppeliasim. 2. The robot is programmed to detect obstacles using infrared sensors and change direction accordingly. It uses vision sensors to detect a line and calculates left and right motor velocities to follow the line. 3. The results showed that the robot successfully detected obstacles and changed its direction. The student learned about applications of robots in vehicle factories, electronic devices, dangerous environments, and entertainment.

    Original Description:

    disruptive technology 3.2

    Original Title

    dt 3.2

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    1. The document describes an experiment conducted by a student to design a two-wheel line following robot using Coppeliasim. 2. The robot is programmed to detect obstacles using infrared sensors and change direction accordingly. It uses vision sensors to detect a line and calculates left and right motor velocities to follow the line. 3. The results showed that the robot successfully detected obstacles and changed its direction. The student learned about applications of robots in vehicle factories, electronic devices, dangerous environments, and entertainment.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    87 views9 pages

    University Institute of Engineering Department of Mechanical Engineering

    Uploaded by

    Pratik Mishra
    1. The document describes an experiment conducted by a student to design a two-wheel line following robot using Coppeliasim. 2. The robot is programmed to detect obstacles using infrared sensors and change direction accordingly. It uses vision sensors to detect a line and calculates left and right motor velocities to follow the line. 3. The results showed that the robot successfully detected obstacles and changed its direction. The student learned about applications of robots in vehicle factories, electronic devices, dangerous environments, and entertainment.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    You are on page 1of 9

    University Institute of Engineering

    Department of Mechanical Engineering

    Experiment: 3.2

    Student Name: PRATIK MISHRA UID :21BCS7830


    Branch: CSE
    Semester: 2ND Date of Performance:2022/04/22
    Subject Name: Disruptive Technology
    Subject Code:21ECH-103

    1. Aim of the practical: Design a two wheel line following robot integrated with infrared sensors.

    2. Tool Used: Coppeliasim.

    STEPS TO MAKE ROBOT ON COPPLEASIM


    University Institute of Engineering
    Department of Mechanical Engineering
    University Institute of Engineering
    Department of Mechanical Engineering
    University Institute of Engineering
    Department of Mechanical Engineering

    CODE FOR BUBBLE ROB:


    University Institute of Engineering
    Department of Mechanical Engineering

    function sysCall_init()
    bubbleRobBase=sim.getObject('.')
    leftMotor=sim.getObject("./leftMotor")
    rightMotor=sim.getObject("./rightMotor")
    noseSensor=sim.getObject("./sensingNose")
    minMaxSpeed={50*math.pi/180,300*math.pi/180}
    backUntilTime=-1 -- Tells whether bubbleRob is in forward or
    backward mode
    floorSensorHandles={-1,-1,-1}
    floorSensorHandles[1]=sim.getObject("./leftSensor")
    floorSensorHandles[2]=sim.getObject("./middleSensor")
    floorSensorHandles[3]=sim.getObject("./rightSensor")

    robotTrace=sim.addDrawingObject(sim.drawing_linestrip+sim.drawing_
    cyclic,2,0,-1,200,{1,1,0},nil,nil,{1,1,0})
    -- Create the custom UI:
    xml = '<ui title="'..sim.getObjectAlias(bubbleRobBase,1)..'
    speed" closeable="false" resizeable="false" activate="false">'..[[
    <hslider minimum="0" maximum="100" on-
    change="speedChange_callback" id="1"/>
    <label text="" style="* {margin-left: 300px;}"/>
    </ui>
    ]]
    ui=simUI.create(xml)
    speed=(minMaxSpeed[1]+minMaxSpeed[2])*0.5

    simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[
    2]-minMaxSpeed[1]))

    end

    function sysCall_sensing()
    local p=sim.getObjectPosition(bubbleRobBase,-1)
    sim.addDrawingObjectItem(robotTrace,p)
    end

    function speedChange_callback(ui,id,newVal)

    speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100
    University Institute of Engineering
    Department of Mechanical Engineering

    end

    function sysCall_actuation()
    result=sim.readProximitySensor(noseSensor)
    if (result>0) then backUntilTime=sim.getSimulationTime()+4 end

    -- read the line detection sensors:


    sensorReading={false,false,false}
    for i=1,3,1 do
    result,data=sim.readVisionSensor(floorSensorHandles[i])
    if (result>=0) then
    sensorReading[i]=(data[11]<0.5) -- data[11] is the
    average of intensity of the image
    end
    end

    -- compute left and right velocities to follow the detected


    line:
    rightV=speed
    leftV=speed
    if sensorReading[1] then
    leftV=0.03*speed
    end
    if sensorReading[3] then
    rightV=0.03*speed
    end
    if sensorReading[1] and sensorReading[3] then
    backUntilTime=sim.getSimulationTime()+2
    end

    if (backUntilTime<sim.getSimulationTime()) then
    -- When in forward mode, we simply move forward at the
    desired speed
    sim.setJointTargetVelocity(leftMotor,leftV)
    sim.setJointTargetVelocity(rightMotor,rightV)
    else
    -- When in backward mode, we simply backup in a curve at
    reduced speed
    sim.setJointTargetVelocity(leftMotor,-speed/2)
    University Institute of Engineering
    Department of Mechanical Engineering

    sim.setJointTargetVelocity(rightMotor,-speed/8)
    end
    end

    function sysCall_cleanup()
    simUI.destroy(ui)
    end

    CODE FOR PATH:

    path=require('path_customization')

    function path.shaping(path,pathIsClosed,upVector)
    local section={-0.02,0.001,0.02,0.001}
    local color={0.3,0.3,0.3}
    local options=0
    if pathIsClosed then
    options=options|4
    end
    local
    shape=sim.generateShapeFromPath(path,section,options,upVector)

    sim.setShapeColor(shape,nil,sim.colorcomponent_ambient_diffuse,col
    or)
    return shape
    end
    University Institute of Engineering
    Department of Mechanical Engineering

    6.Results:The robot succesfully detect the obstacles and change its direction.

    7. Additional Creative Inputs (If Any):

    Learning outcomes (What I have learnt):

    1.We are designed in vehicles and car factories.

    2.We are designed mounting circuits on electronic devise e.g. mobile phone.

    3.We are working where there might be danger e.g. nuclear leaks and bomb
    disposal.

    4.We are designed to Toy robots are good source of entertaining for like kids
    e.g.dancing talking robots.

    5.We are able to help the people by robots do not get bored or tired and they can
    work 24/7without salary and food.

    Evaluation Grid (To be filled by Faculty):


    Sr. Parameters Marks Obtained Maximum Marks
    No.
    1. Worksheet completion including 10
    writinglearning objectives/Outcomes.
    (To besubmitted at the end of the day)
    2. Post Lab Quiz Result. 5
    3. Student Engagement in 5
    Simulation/Demonstration/
    Performance and Controls/Pre-Lab
    Questions.
    Signature of Faculty (with Date): Total Marks Obtained: 20
    University Institute of Engineering
    Department of Mechanical Engineering

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