NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)

Main IJP Road, Sector I-12, Islamabad

Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

IDE-2005-L: Robotics and Automation Lab

Batch: 2020-2024 Semester: 7th Session: Fall-2023

Exp No Title of Exp CLO PLO

Perform different types robot algorithms and
2 programming by using Humanoid Robotic Kit and VJC CLO-1 PLO-3
Software.

Student Name:

Registration No:

Date of Experiment:

Affective Domain Rubric Based Assessment

Levels of Achievement
Unacceptable Just acceptable Basic Good Excellent Marks
(1) (2) (3) (4) (5)
I. Adherence to Safety
Procedures for completing task
II. Attitude and Goal Setting for
completing task
III. Individual & Group Engagement
for completing task

Psychomotor Domain Rubric Based Assessment

Levels of Achievement
Unacceptable Just acceptable Basic Good Excellent Marks
(1) (2) (3) (4) (5)
I. Ability to conduct experiment on
PLC/ROBOT
II. Demonstrate proper uses of
PLC/ ROBOTIC software and
hardware
III. Implementation and Result.

Lab Report Rubric Based Assessment

Levels of Achievement
Unacceptable Just acceptable Basic Good Excellent Marks
(1) (2) (3) (4) (5)
I. Organization/
Structure
II. Data Presentation.

Submitted To: L.E Haji Ahmed

Objectives:
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Student will be able to make new flow chart for different standard robot models
Student will be able to make new VJC program for different standard robot models.
Student will be able to use multiple sensors of posture testing, distance measuring, light detecting etc.
Student will be able to use remote control for standard Humanoid robot model.
Student will be able to use graphical programming “VJC” software.
Student will be able to use different blocks and how to control these blocks using VJC Programming.
Equipment/Components
 Full list of Kit components
 Set up instructions and construction tips
 Getting started with VJC Software
 Test instructions for sensors and actuators/Motors
 Complete step-by-step build and automation instructions for different model robots
Safety Information
 Keep fingers, hair, and loose articles of clothing clear of gears and moving parts.
 Never pick up the robot while it is moving, or the servo motors are running.
 Remove any burrs caused by cutting the metal beams.
 Make sure the power is turned off when the robot is not in operation.
 Do not operate the robot in a wet environment.
 Always power down the robot before making any changes.
 Use caution when working with bare wires to avoid creating a short circuit situation.
 Route wires carefully and secure them if necessary to avoid damage to the wire or its insulation.

 Mount the battery pack and all electronic components securely.

Procedure:
Procedure for Single-functioned Block and Function Determination Block
1 The Sound Detecting block is as in the picture shown on the right, it takes shape
of a parallelogram.
We will use the "Sound Detecting" block as an example of a single function blocks.
This block can examine the sensor readings. It’s very simple and only one parameter,
the sensor reading variable, needs to be set. Next, let’s set up the block.
A Double click the block in your flowchart, and you will see a dialog as in the figure
below.

B Click the "Sound variable 1" button and the Variables Box

c) Specify the variable to save the sensor reading. There will be a key in the end of the
specified variable. Click “OK” and return.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

The sensor blocks can make conditional judgments.

The following figure shows an example of this kind of sensor block.
This block can not only specify the variable in which to save sensor readings, but it also
can decide whether to execute the following statements. According to the variable
value. It’s a little complex because different blocks have different relationship
expressions. Later, we will specify how to set the parameters and relationship
expressions.

2 Switch from These Two Types of Blocks

When sensor blocks are moved from blocks library to flow chart area, they’re still
single-functioned block, which is to detect the value of sensor. The user needs to switch
their function to get the function determination sensor blocks.
The steps are as followed.
1 Double click the left button on the single functioned block, a dialog box as shown
below will pop up.
2 Click the left button on the “After Detecting Completed, Start Determination” button, a dialog
box as shown in picture 6-7 will pop up.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Properties List of the Intelligent Motor

Address Name Function and Parameter

0/1 Model Number Model number

Version of
2 Firmware Information on the version of firmware

3 ID ID of Dynamixel

6/7 CW Angle Limit Clockwise Angle Limit

8/9 CCW Angle Limit Counterclockwise Angle Limit

10 Joint offset Joint Offset

11 The Limit Internal Limit Temperature

24 Torque Enable Torque On/Off

25 LED LED On/Off

Current position value of the intelligent motor, ranging from 0 to 1022(0x3FF),

30/31 Goal Position unit is 0.29 degree.

Current moving speed of the intelligent motor. The unit is 0.111rpm. For
example, if the value is 300, it means the motor rotates counter-clockwise with
Moving Speed the speed of 33.3 rpm. The unit of Rotate Mode is about 0.1%. If the value is
32/33 512, then the motor rotates counter-clockwise with 50% max torque.

Max Torque Limit, ranging from 0 to 1023(0x3FF), unit is about 0.1%. If the
Torque Limit value is 512, it means only 50% of the max torque will be used.
34/35

Present position value of the intelligent motor, ranging from 0 to 1023(0x3FF),

36/37 Present Position the unit is 0.29 degree.

Present speed of the intelligent motor. The unit is 0.111rpm. For example, if the
value is 300, it means the motor rotates counter-clockwise with the speed of
38/39 Present Speed 33.3 rpm. The unit of Rotate Mode is about 0.1%. If the value is 512, then
the motor rotates counter-clockwise with 50% max torque.

The value of Present Load ranges from -1023-1023, the unit is about 0.1%. If
Present Load the value is -1023-0, the load works counter-clockwise. If the value is 0-1023,
40/41 the load works clockwise.

Present voltage of the intelligent motor. The value is 10 times bigger than the
Present Voltage actual voltage. For example, if the input voltage is 10V, the value shows 100.
42

The value of Present Load ranges from -1023-1023, the unit is about 0.1%.
Present Load If the value is -1023-0, the load works counter-clockwise. If the value is 0-
40/41 1023, the load works clockwise.

Present voltage of the intelligent motor. The value is 10 times bigger than the
42 Present Voltage actual voltage. For example, if the input voltage is 10V, the value shows 100.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Present temperature of the intelligent motor. The unit is Centigrade. The value
Present equals to the actual temperature. For example, if the value shows 85(0x55),
43 Temperature then the present temperature is 85℃

Sign of moving.1: The intelligent motor is moving. 0:The intelligent motor stays
46 Moving still.

Properties List of the Integrated Sensor

Block Name Description

IR Left Fire Data The value of left IR Sensor
Distance IR CenterFire Data The value of central IR Sensor
Measuring
IR Right Fire Data The value of right IR Sensor

Light Left Data The value of left Light Sensor

Light-intensity Light Center Data The value of central Light Sensor
Measuring
Light Right Data The value of right Light Sensor

IR Obstacle
Detected The object detected by IR
Obstacle
Detecting Obstacle Detect
Compare Value The reference value of object detected

Light Detected Light Detected

Light
Detecting
Light Detect
Compare Value The reference value of light detected

Sound Data The value of current sound

Sound
Detecting
Sound Detected The count of sound detected.
Count

Buzzer Data Buzzer Notes

Buzzer
Buzzer Time Buzzer Ringing Time
（100ms）

IR Receiving Remocon RX Data Received data packet

IR Sending Remocon TX Data Transmitted data packet

 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Change the ID Number of the Intelligent Motor

Application: When a motor is found to be damaged during robot assembly, you need to
change the ID number of the replacement motor to the ID number of the damaged motor.
Step One: Connect the replacement motor to the controller that isn't connected to any
other motor. Then, connect them to the computer and turn on the controller.
PC Link MOTOR MOTOR SENSOR

Computer

M
USB Data Cable T R P A B
ON
Mic
OFF

B
AB
SENSOR MOTOR MOTOR SENSOR

Step Two: Get to the interface of “Test Online” from “Tool” in VJC-HRobot.
Select Connect After the connection is successfully done, select Search to
acquire all the information about the connected motor.

Step Three: Select the value that is named after “ID” from Advanced parameter .
Double-click on the value and type the ID number you want. Then press ENTER to
confirm.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Example on Using Controller Blocks

Preparation: Collect a controller, a battery, and a data cable. Connect them together and
then to the computer. Turn on the controller.
Program Function: After writing the program based on the steps below and downloading
it to the controller, the controller sounds the alarm when “Play” button is pressed.

Step One: Create a new program. Step Two: Drag “Infinite Loop” into
the flow chart.

Step Three: Drag “Button” and

“Tone” into the flow chart. Step Four: Set the parameter of the
“Button”.

Step Five: Set the parameter of the

“Tone”.

Step Six: Adjust the set blocks to their

proper positions.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Example on Using Motor Blocks

Preparation: Collect a controller, a battery, an intelligent motor with an ID number of 1
and a thread of data cable. Connect the motor and the battery to the controller, and turn on it.
Connect the controller to the computer with the data cable.
Program Function: After writing the program based on the steps below and downloading
it to the controller, the intelligent motor rotates at the angle ranged from 50 degrees to -
50 degrees.
Design Illustration: Set the rotation speed of the intelligent motor as 200, target
position as 50 degrees. Wait for a while to let the motor rotate to its target position.
Then, set its rotation speed as 200, target position as -50 degrees. Wait for a while. Then
make it circulate in this order.
Step One: Create a new program. Step Two: Drag “Infinite Loop” from
“Control Blocks” into the flow chart

Step Three: Drag four “Set Motor” blocks Step Four: Drag two “Wait” blocks from
from “Motor Blocks” into the flow chart. “Controller Blocks” into the flow chart.

Step Five: Set the rotation speed in Step Six: Set the target angle in one
“Set Motor” blocks as 200. “Set Motor” block as 50.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Step Seven: Set the target angle in one Step Eight: Drag the set blocks into
“Set Motor” block as -50. their appropriate positions.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Example on Using Sensor Blocks

Preparation: Collect a controller, a battery, an intelligent motor with an ID number of 1, an
integrated sensor and a data cable. Connect the motor, the integrated sensor and the battery to
the controller, and turn on it. Then connect the controller to the computer with the data
cable.
Program Function: After writing the program based on the steps below and downloading it
to the controller, the LED on the intelligent motor illuminates if the integrated sensor detects
an object in front of it.
Design Illustration: Use the “Distance Detection” in “Sensor Blocks”. When the distance is more than
120, set the LED on the intelligent motor as “Connected”.
Step One: Create a new program. Step Two: Drag “Infinite Loop” from
“Control Blocks” into the flow chart.

Step Three: Drag “Distance Detection” from Step Four: Set parameters of the
“Sensor Blocks” into the flow chart. “Distance Detection”. Select “Center
Sensor” and set “Distance Variable
1”as more than or equal to 120.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Step Five: Drag two “Set Motor” blocks Step Six: Set the parameters of the
from “Motor Blocks” into the flow chart. two motor blocks. Set one LED to be
“OFF” and the other to be “ON”

Step Seven: Move the blocks to

their appropriate positions.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Example on Using of the Motion Editor

Preparation: Build the “Barrier Bar” based on “Quick Start”.

Program Function: After writing the program based on the steps below and downloading it to the
controller, the barrier bar swings back and forth.
Design Illustration: Use Motion Editor to record position values of the bar. Make the barrier
bar swings back and forth by inputting the values to VJC.

Step One: Create a “Crossing Gate Step Two: Switch to Motion Editor from VJC
” program.

Flow Chart.

Step Three: Select “Standard Step Four: Add a new step and read
Parameters” From “View”. Then the angle of the motor.
Connect the controller to the
computer.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Step Five: Place the bar as below Step Six: Record its angle and
save it to the Step.”
with your hands.

Step Seven: Select “ Page, 2”. Step Eight: Add another new step
and read the new angle of the
motor.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Step Nine: Place the bar as below with Step Ten: Record its angle and save
your hands. it to the Step.

Step Eleven: Save and return to

VJC.
Step Twelve: Delete the previous demo
program, then write your own
program.

Step Thirteen: Drag the blocks you need,

like “Execute Action”, “Wait”.

Step Fourteen: Set the parameter of the “

Execute Action” block (1/2).
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Step Fifteen: Move the set blocks to

their appropriate positions.

Task-1
By using modal picture and instructions given below Build Clamping Penguin Robot by using Humanoid
Robotic Kit and Control its parameters by using VJC Software and provide updated flow chart and control
program of the given task.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Task-2
By using modal picture and instructions given below Build Spider King Robot by using Humanoid Robotic
Kit and Control its parameters by using VJC Software and provide updated flow chart and control program of
the given task.
 NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING

Task-3
By using modal picture and instructions given below Build Humanoid Robot by using Humanoid Robotic Kit
and Control its parameters by using VJC Software and provide updated flow chart and control program of the
given task.
NATIONAL UNIVERSITY OF TECHNOLOGY (NUTECH)
Main IJP Road, Sector I-12, Islamabad
Telephone: 051-5476768/4576809, Fax: 051-5476769
Website: www.nutech.edu.pk
DEPARTMENT OF ELECTRICAL ENGINEERING