Page 263 - Robot Design Handbook ROBOCON Malaysia 2019

3 IR sensor 1 - Detects the white strip on the motor of

the gripper in order to reduce the
impact of knocking

4 Relay module 1 - Control the circuit either it is normally
open (NO) or normally close (NC)

2.2.2 Electronic Design for the MR2

The sensor that we have chosen for the MR2 is IR sensor module. The function of

the IR sensor in this robot is to detect the rotation of the joint of the power window motor
in order for the programmer to easily adjusted the motion of the robot’s legs. Moreover, the

controller that is used in the MR2 is DSPIC30f4011 which uses Harvard architecture with
separate programme and data memory buses. This controller is ideal for motor controller

application due to its powerful and high performance micro-controller as well as high speed

core optimized to perform complex calculations quickly. The micro-controller also includes
a large 48 kB internal flash memory and a wide range of timers together with a number of

PWM modules for adjustable motor speed control of the robot.
Furthermore, the DSPIC30F4011 controller board also includes a large number of

general I/O pins that are very useful for the connection of sensors to adjust the motion of

the robot. This controller uses UART (Universal Asynchronous Receiver/Transmitter)
protocol in full duplex mode which means that the transmission and reception can occur

simultaneously. It enables an advanced communication between the two robots. Power
distribution board is used to supply the electricity for each motor driver circuit. Other than

that, there are four DC motor controllers to drive the power window motor to run the legged

robot. Figure 1 illustrates the electronic set up for the MR2.

259