Robotics Lab LAB 3

4WD Robot Kinematics.

Objectives:

- To get familiar with Arduino I/O commands.

- To analyze the kinematics of 4WD Robot
- To produce PWM signals to control motor driver
- To get familiarized with Arduino libraries
-

Introduction
Motor speed and direction control is a fundamental aspect of robotics and
automation, playing a pivotal role in determining the movement, precision,
and functionality of robotic systems. Whether it's in industrial automation,
mobile robots, or even hobbyist projects, the ability to precisely manage
the speed and direction of motors is the cornerstone of achieving tasks
efficiently and with precision. By modulating the rotational speed and
steering of motors, we unlock a world of possibilities, from the precise
positioning of robotic arms to the navigation of autonomous vehicles. In
this realm of control, we delve into the technologies and methodologies
that empower us to manipulate motors with finesse, turning them into the
obedient workhorses of our mechanized world.

Direction of a DC Motor:

To change the direction of a DC motor, you need to reverse the polarity of the voltage applied to
the motor. This can be accomplished in several ways, depending on your application and the
available components. Here are some common methods for reversing the direction of a DC motor:

A
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H Bridge:
Circuit containing 4 switching elements + 4 catch diodes
Switching elements are usually bipolar transistors or MOSFETs
Catch diodes are used to prevent short circuiting
Path of current controlled by switches

Potential paths and switch combinations

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Incorrect path

L298N Dual H-Bridge Motor Driver

This dual bidirectional motor driver, is based on the very popular L298 Dual H-Bridge Motor Driver
Integrated Circuit. The circuit will allow you to easily and independently control two motors of up
to 2A each in both directions.It is ideal for robotic applications and well suited for connection to a
microcontroller requiring just a couple of control lines per motor. It can also be interfaced with
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simple manual switches, TTL logic gates, relays, etc. This board equipped with power LED
indicators, on-board +5V regulator and protection diodes.

L298n Specifications

 Input Voltage: 3.2V~40Vdc.

 Driver: L298N Dual H Bridge DC Motor Driver
 Power Supply: DC 5 V - 35 V
 Peak current: 2 Amp
 Operating current range: 0 ~ 36mA
 Control signal input voltage range :
 Low: -0.3V ≤ Vin ≤ 1.5V .
 High: 2.3V ≤ Vin ≤ Vss.
 Enable signal input voltage range :
 o Low: -0.3 ≤ Vin ≤ 1.5V (control signal is invalid).
 o High: 2.3V ≤ Vin ≤ Vss (control signal active).
 Maximum power consumption: 20W (when the temperature T = 75 °C).
 Storage temperature: -25 °C ~ +130 °C.
 On-board +5V regulated Output supply (supply to controller board i.e. Arduino).
 Size: 3.4cm x 4.3cm x 2.7cm

Board Dimension & Pins Function:

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4WD Robot Chassis and its components:

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Task:
Task Description: Moving a Robot Along a Rectangular Path with Timed Movements

In this lab task, the objective is to program a robot to move along a rectangular path,
performing a series of timed movements. The lab demonstrates fundamental concepts of
robot kinematics, motion control, and sequencing.

Lab Assignments Marks: 20

1- Write a code to program Arduino to run a robot in rectangular path in varying speed to
complete two laps.
Note: Paste your code in the manual:

1- Write a code to program Arduino to spin a robot along y axis and after 5 second of
spinning, the rotation of robot spin should be inverse for next 5 seconds.
Note: Paste your code in the manual:
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OBSERVATIONS AND COMMENTS

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