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Robotics: Presentation in Hardware interface
Talk about hardware interfaces
Robotics: Presentation in Hardware interface
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- 2.TABLE OFCONTENT01.02.Hardware Interface03.Analog Digital Converters04. Operational AmperesMotor Driver
- 3.Hardware Interfaceis aphysical connection thatenables communicationbetween different electronicdevices.
- 4.motordriverMechatronics 1This Photoby Unknown Author is licensed under CC BY-SA
- 5.Motor driverA motordriver is an electronic device that allows amicrocontroller or processor to control the operation of amotor.This Photo by Unknown Author is licensed under CC BY-SAThis Photo by Unknown Author is licensed under CC BY-NC-NDMotor driverThis Photo by Unknown Authoris licensed under CC BY-SA
- 6.Can you connectamotor like dc motor orservo in microcontrollerwithout motor driver??
- 7.Can you connecta motor like dc motor or servo inmicrocontroller without motor driver??No, it is generally not recommended toconnect a DC motor or servo directly to amicrocontroller without a motor driver.
- 8.Function of MotorDrivers inControlling Motors✓ Voltage and Current Amplification✓ Direction Control✓ Speed Control
- 9.Types of Motorsused in RoboticsDC motorThese motors run on directcurrent and are commonlyused for simple applicationswhere speed control isneeded.Stepper MotorsStepper motors move indiscrete steps, allowing forprecise control of positionand speed.Servo MotorsServo motors provideprecise control of angularposition, velocity, andacceleration.
- 10.Functionality ofMotor DriversHowMotor Drivers Work: Motor drivers receivecontrol signals from a microcontroller and convertthese signals into higher power signals that can drivethe motor.Control Methods:✓ Pulse Width Modulation (PWM)- technique used tocontrol the speed of the motor by varying the width ofthe pulses sent to the motor driver.✓ Direction Control: Motor drivers can change the directionof the motor's rotation by reversing the polarity of thevoltage supplied to the motor
- 11.PWM DC MotorControlPWM, or pulse width modulation isa technique which allows us toadjust the average value of thevoltage that’s going to theelectronic device by turning onand off the power at a fast rate.The average voltage depends onthe duty cycle, or the amount oftime the signal is ON versus theamount of time the signal is OFF ina single period of time.
- 12.Note: Arduino GNDand the motor power supply GND should be connected together.Why MOSFETs? Because they offer fast switching speeds, high efficiency, and precise control—all essential for driving motors effectively, especially in applications like robotics, electricvehicles, and industrial automation.
- 13.H-Bridge DCMotor ControlAnH-Bridge circuit contains four switchingelements, transistors or MOSFETs, with themotor at the center forming an H-likeconfiguration. By activating two switches atthe same time we can change the directionof the current flow, thus change the rotationdirection of the motor**So if we combine these twomethods, the PWM and the H-Bridge, we can have acomplete control over the DCmotor.
- 14.H-Bridge Switching Logic•Forward Rotation:– Turn ON: Q1 (top-left) and Q4 (bottom-right)– Turn OFF: Q2 and Q3– Current flows from left to right through the motor.• Reverse Rotation:– Turn ON: Q2 (top-right) and Q3 (bottom-left)– Turn OFF: Q1 and Q4– Current flows from right to left through the motor.• Braking (Short Circuit Braking):– Turn ON: Q3 and Q4 or Q1 and Q2– This shorts the motor terminals together, quickly stopping the motor.• Stop (High Impedance):-- All MOSFETs OFF-- No current flows; the motor coasts to a stop.
- 15.Examples of PopularMotorDrivers• L298N: A versatile H-bridge driver thatcan control both DC and steppermotors.• DRV8835: A high-efficiency PWMmotor driver for DC motors.• A4988: A microstepping driver forstepper motors.• TB6612: A low-cost H-bridge driver forDC motors.
- 16.Analog-to-DigitalConverters(ADCs)Mechatronics 1This Photoby Unknown Author is licensed under CC BY-SA
- 17.The need ofADC1. Interfacing with Sensors: Many sensors,such as temperature sensors, microphones,and light sensors, produce analog signals. Toprocess this information using digital systems(like microcontrollers or computers), theseanalog signals must be converted into digitalform.2. Data Processing: Digital systems canperform complex computations and dataprocessing more efficiently than analogsystems.3. Noise Resistance: Digital signals are lesssusceptible to noise and interference comparedto analog signals.
- 18.Types of ADCsFlashADCIt has many comparators that simultaneouslycompare the input voltage to a set of referencevoltages. The comparator outputs are thencombined to produce a digital code representingthe input voltage.Successive Approximation ADCsIt starts with a guess for the inputvoltage and refines the guess bit by bituntil it matches the input voltagewithin a specified tolerance.
- 19.1. Resolution 4.QuantizationErrorThe number of bits used torepresent the analog signal. The difference between the actual analogvalue and the quantized digital value.Key Parameters of Analog-to-Digital Converters (ADCs)2. SamplingRateThe number of samples takenper second.3. ConversionTimeThe time it takes for the ADC to convert asingle analog sample into a digital value.5. Slew RateThe maximum rate at which the ADC's output can change.6. Input RangeThe range of analog voltages that the ADCcan accurately convert.7. PowerConsumptionThe amount of power required for the ADC to operate.
- 20.APPLICATIONS of Analog-to-DigitalConverters (ADCs)1.Sensor Interfacing2.Motor Control3.Signal Processing4.Environmental Monitoring5.Human-Machine Interface6.Autonomous Navigation
- 21.OPERATIONAL AMPLIFIERAn operationalamplifier, or op-amp for short, is a versatileelectronic component that can be used to perform a widerange of functions, such as amplification, filtering, andcomparison. It is essentially a high-gain DC-coupledamplifier with differential inputs and a single-ended output.
- 22.Application of Op-Amps1. Amplification2. Filtering3. Comparison4. Oscillators5. Summation6. Differentiation7. Integration8. Instrumentation9. Analog-to-Digital Converters (ADCs)
- 23.Application of Op-Amps1. Amplification➢ Audio amplifiers: Boosting audio signals for speakers,headphones, and other audio equipment.➢ Instrumentation amplifiers: Amplifying low-level signals fromsensors or instruments.2. Filtering➢ Low-pass filters: Removing high-frequency noise from signals.➢ High-pass filters: Removing low-frequency noise from signals.
- 24.Application of Op-AmpsComparison➢ Comparators: Comparing two input voltages and producing adigital output (high or low) based on the comparison.Oscillators➢ Generating periodic signals: Creating waveforms like sinewaves, square waves, or triangle waves.
- 25.Application of Op-AmpsSummation➢ Summing amplifiers: Adding multiple input signals together.Differentiation➢ Differentiators: Producing an output signal proportional to therate of change of the input signal.
- 26.Application of Op-AmpsIntegration➢ Integrators: Producing an output signal proportional to theintegral of the input signal.Instrumentation➢ Instrumentation amplifiers: Amplifying differential signals withhigh common-mode rejection.
- 27.Application of Op-AmpsAnalog-to-Digital Converters (ADCs)➢ Sample-and-hold circuits: Holding the input voltage constantduring the ADC conversion process.
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