School of Electrical and Computer Engineering

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Browsing School of Electrical and Computer Engineering by Author "Abebaw, Taye"

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    Design of Battery Powered Tef Seed Row Planting Robot
    (Addis Ababa University, 2017-05) Abebaw, Taye; Mamo, Mengesha (PhD)
    This paper presents design of battery powered tef seed row planting differential drive mobile robot which can help farmers to increase productivity and efficiency of farming industries. Forward kinematics of a differential drive mobile robot is done by considering non-holonomic constraint and no lateral slip conditions. Lagrange equation is used to analyze dynamic behavior of the vehicle and its model has also been developed. Mechanical and electrical characteristic of a permanent magnet DC motor is also discussed. To select suitable motor and battery, load distribution of the vehicle is discussed by considering all resistance factors. Appropriate object oriented programing is developed in Arduino environment and uploaded to the Arduino Uno ATmega328. And also Proteus software is used to develop the schematic capture of the system from input to output. PID controller is designed to control speed of differential drive motors and simulation is done on MATLAB Simulink environment. Results of transient and steady state response of right and left wheel motors’ controllers are shown using MATLAB scope graphs. Effects of chassis parameters and contribution of right and left motors on motion of the vehicle are simulated and there results in MATLAB scope graphs are compared. Simulation of hardware interfacing of the system components with the Controller (Arduino UNO) is done using Proteus Software. The robot platform is well-ordered by controlling speed and position of the two PMDC motors using the driver L293D. LCD is interfaced for displaying statues of the battery, seed box and general information of the robot. Literatures are reviewed and compared with this thesis and significant of the work is clearly stated. Keywords: Permanent magnet dc motor, Arduino Uno ATmega328, non-holonomic constraint, differential drive mobile robot, Lagrange equation, Forward kinematics, dynamic behavior.