‫מערכות ייצור ממוחשבות‬
‫רובוטים ניידים וחיישנים‬

Ofir Goldstain goldstai@post.tau.ac.il CIM Laboratory, room 454

Mobile robots
World coordinates
Local coordinates Local coordinates Lathing Lathing World coordinates World coordinates Milling Milling

Cartesian Cartesian

Linked joints Linked joints

AGVs - Automated Guided Vehicles
World coordinates vs. local coordinates
Absolute (world) coordinates Absolute (world) coordinates yy Local coordinates Local coordinates

Distances Distances

zz

xx

1

World coordinates vs. distances
Euclid-Newton
Absolute (world) coordinates Absolute (world) coordinates yy
Euclidian distances Euclidian distances

Riemann-Einstein
Local Euclidian coordinates Local Euclidian coordinates
Riemann distances Riemann distances

zz

xx

Light rays Light rays

Sensors and trajectories
Light sensor
Photo-diode Photo-diode Receiver Receiver II

Example
Two sensors, two motors Two sensors, two motors
Light sensors Light sensors

Motors Motors dd II~ 11//dd ~

Sensors and trajectories
Example: Braitenberg vehicle (Max Plank Institute)
Fear Fear Aggression Aggression Depends on sensors Depends on sensors

2

Sensors and trajectories
Light sensor
Photo-diode Photo-diode Receiver Receiver II Planned trajectory Planned trajectory dd II~ 11//dd ~ II~ bb ~ Brightness bb Brightness Photo-diode Photo-diode Receiver Receiver II

Sensors and trajectories
Lego Robot (RCX controller) if brightness > threshold if brightness > threshold then turn then turn stop one wheel and stop one wheel and rotate other wheel xxtimes rotate other wheel times
Light sensor Light sensor

Light sensor Light sensor

Controller Controller

Brightness Brightness

Rotations sensor Rotations sensor

Sensors and trajectories
Rotations sensor (J.S.Falcon, NI)
States States 000000(2) = 0(10) … 111111(2) = 63(10)
110001 110001 111111 111111 001110 001110 000000 000000 99pulses = 9000 pulses = 90

II Disk