Essays on Encoders

This chapter consists of project testing and results as well as the problems faced during the project completion.

I2C Communication between Raspberry Pi and Arduino After connecting the Raspberry Pi and the Arduino through I2C, the environment on the Raspberry Pi is set up. The Raspberry Pi identifies Arduino Uno by detecting the slave address sent by Arduino Uno. The slave address is set through the uploaded program code on the Arduino. The following test was conducted for testing the I2C bus between the Raspberry Pi and the Arduino. The address was set to 00×04. Below is the result when i2cdetect –y 1 is typed allowing the Raspberry Pi to detect the connected slaves through I2C. ...

Introduction

It is important for every mobile robot to possess the ability to navigate in target environment. Navigation can be described here as the robotic system’s ability to identify its own position in an unknown area with respect to some reference point and then move to its target position. In order to navigate in its environment and reach target position correctly, an efficient control system should be designed. The aim of this project is to design and implement a mobile robot localisation and control.The mobile robot is developed with the ability of:

Localisation System

For a positioning system, it is required ...

As a mobile robot operates in environment, its actual position and orientation are not exactly the same as targeted. Therefore, it is important to know about the robot’s definite current position for controlling it. In this section, three methods for positioning are described; using encoders, using ultrasonic ranging sensor, and using both ultrasonic and encoder sensors.

Positioning Using Encoder

In order to position the robot using encoders, it is necessary to take two steps. First, encoders should provide the current robot position. Second, it is important to reach the target position given by the supervisor.

Receiving the Robot’s Current Position Using Encoder

It is imperative to know the ...

Report

Report: Abstract: The report below examines an inverted pendulum experiment. In the report a brief description of the system used has been provided. The aims of the experiment have also been discussed. A block diagram of the equipment used in the experiment has also been included in the report. Matlab has been used to plot the data derived from the experiment and using this graphs the behavior of the inverted pendulum has been discussed.

A QNET rotary inverted kit was used in the experiment. The kit is shown in the figure 1 below. The kit used in the ...