{"id":1045,"date":"2025-09-30T09:15:46","date_gmt":"2025-09-30T07:15:46","guid":{"rendered":"https:\/\/khusseintakhmazov24.thkit.ee\/wp\/?p=1045"},"modified":"2025-10-28T12:34:53","modified_gmt":"2025-10-28T09:34:53","slug":"konspekt","status":"publish","type":"post","link":"https:\/\/khusseintakhmazov24.thkit.ee\/wp\/eng\/?p=1045","title":{"rendered":"Konspekt"},"content":{"rendered":"\n
Robootika kolm p\u00f5hiseadust<\/strong> on reeglid, mille m\u00f5tles v\u00e4lja ulmekirjanik Isaac Asimov<\/u>. Reeglid ilmusid esmakordselt 1942. aastal Asimovi l\u00fchijutus “Runaround”.
Need kolm reeglit on j\u00e4rgmised:
1. Robot ei tohi oma tegevuse ega tegevusetusega inimesele kahju teha.
2. Robot peab alluma inimese antud k\u00e4sule, kui see ei l\u00e4he vastuollu esimese seadusega.
3. Robot peab kaitsma oma olemasolu, kuni see ei ole vastuolus esimese v\u00f5i teise seadusega.
Peale nende kolme seaduse m\u00f5tles Asimov hiljem v\u00e4lja ka nullseaduse, mis on j\u00e4rgmine:
0. Robot ei tohi oma tegevuse v\u00f5i tegevusetusega inimkonnale kahju teha.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

1. Mis on robot? Maailma esimene robot.<\/p>\n\n\n\n

robot on mis tahes automaatselt t\u00f6\u00f6tav masin, mis asendab inimt\u00f6\u00f6j\u00f5udu<\/p>\n\n\n\n


2. Robotite arendamis p\u00f5lvkonnad. Nimeta ja seleta:<\/p>\n\n\n\n

Esimene p\u00f5lvkond. Esimese p\u00f5lvkonna robotid olid lihtsa ehitusega ning neil puudus
\u00fcmbrusetaju ehk andurid. Oma t\u00f6\u00f6d suutsid nad teha vaid mittemuutuvates tingimustes.
N\u00e4iteks robotk\u00e4si, mis t\u00f5stab \u00f5lletehases pudeleid kastidesse. Robot sooritab identseid
liigutusi, aga kuna tal ei ole \u00fcmbritsevast keskkonnast mitte mingit signaali, st ta ei saa oma
tegevuse kohta mittemingisugust tagasisidet, siis keskonna muutuse korral ta enam ei t\u00f6\u00f6ta
korralikult. Selliseid roboteid t\u00e4nap\u00e4eval enam ei loetagi \u00f5igeteks robotiteks.<\/p>\n\n\n\n

    \n
  • Teine p\u00f5lvkond. Teise p\u00f5lvkonda kuuluvad robotid (vt joonis 2), mis suudavad andurite l\u00e4bi
    reageerida keskkonnas toimuvatele muutustele. Kuna robot suudab keskkonda tunnetada, siis
    roboti efektiivsus oleneb suures osas tarkvarast, mis teda juhib. Ka antud kursuse k\u00e4igus
    kasutatavad robotid kuuluvad k\u00f5ik teise p\u00f5lvkonda, kui kasutada neil andureid keskkonna
    tunnetamiseks ning programmeerida nad iseseisvalt tegutsema.<\/li>\n\n\n\n
  • Kolmas p\u00f5lvkond. Kolmas p\u00f5lvkond on veel v\u00e4ljat\u00f6\u00f6tamisel. Kolmanda p\u00f5lvkonna robotid
    suudavad olukordi anal\u00fc\u00fcsida ning \u00f5ppida. N\u00e4iteks filmis \u201eMina, Robot” olev robot, mis suudab
    j\u00e4reldusi teha ning sellest \u00f5ppida, on kolmandast p\u00f5lvkonnast.<\/li>\n<\/ul>\n\n\n\n

    Liigita j\u00e4rgnevad robotid p\u00f5lvkondade kaupa:<\/p>\n\n\n\n

      \n
    • n\u00f5udepesumasin – pole roboot<\/li>\n\n\n\n
    • fikseeritud liikumisega – esimene<\/li>\n\n\n\n
    • robotk\u00e4si – teine <\/li>\n\n\n\n
    • automaatselt s\u00fcttiv lamp – kolmas<\/li>\n\n\n\n
    • ise keeli \u00f5ppiv robot – viies<\/li>\n<\/ul>\n\n\n\n
        \n
      1. Miks manipulaatorid ei ole robotid? – Neil on staatiline baas ja seet\u00f5ttu tegutsevad nad piiratud t\u00f6\u00f6ruumis.<\/li>\n\n\n\n
      2. Mis on masinate eelised v\u00f5rreldes inimt\u00f6\u00f6j\u00f5uga? – Robotid ei v\u00e4si<\/li>\n\n\n\n
      3. Millised kolm tingimust peavad olema t\u00e4idetud, et teatud masinat v\u00f5i seadet saaks robotiks nimetada? – tajub oma keskkonda, teeb arvutusi otsuste tegemiseks ja sooritab tegevusi reaalses maailmas.<\/li>\n\n\n\n
      4. Millistes Eesti t\u00f6\u00f6stusettev\u00f5tetes v\u00f5iksid mehhatroonikud t\u00f6\u00f6tada? – 10 lines<\/li>\n<\/ol>\n\n\n\n
          \n
        • Robot – Robot on mehaaniline intelligentne seade, mis on v\u00f5imeline iseseisvalt v\u00f5i v\u00e4lise abiga (inimese poolt) \u00fclesandeid lahendama. Praktikas on robot tavaliselt elektromehhaaniline masin, mida juhib arvuti.<\/li>\n\n\n\n
        • Robootika – Robootika on tehnikateaduse ja tehnoloogia valdkond, mis tegeleb robotite ehitamiseks vajaliku rakendusteaduse ja tehnoloogia arendamisega: disain, konstrueerimine, algoritmide v\u00e4ljat\u00f6\u00f6tamine, robotite valmistamine ja rakenduste leidmine. Robootika on tihedalt seotud valdkondadega nagu elektroonika, tehnikateadused, mehaanika, mehhatroonika ja tarkvara arendus.<\/li>\n\n\n\n
        • Manipulaator – Manipulaator on seade v\u00f5i masin, mida inimene juhib. Erinevalt v\u00e4\u00e4rarusaamadest pole manipulaatorid robotid, kuna neid juhib vahetult inimene. Manipulaatorid pole v\u00f5imelised autonoomselt t\u00f6\u00f6tama.<\/li>\n\n\n\n
        • Mehhatroonika – Mehhatroonika on mitmekesine tehnikateaduste haru, mis \u00fchendab endas mehaanika, elektroonika, arvutitehnika, tarkvaratehnika, juhtimisteooria ja s\u00fcsteemidisaini, eesm\u00e4rgiga j\u00f5uda v\u00e4lja parema toote loomiseni.<\/li>\n\n\n\n
        • Andur -Andur on seade, mis m\u00f5\u00f5dab mingit suurust ning teisendab selle elektriliseks signaaliks.<\/li>\n\n\n\n
        • T\u00e4itur – T\u00e4itur on automaatjuhtimiss\u00fcsteemi osa, mis regulaatorist saadava signaali j\u00e4rgi m\u00f5jutab juhitavat protsessi.<\/li>\n\n\n\n
        • Kontroller – Kontrollerit v\u00f5ib tinglikult v\u00f5rrelda ka v\u00e4ikese arvutiga, kus k\u00f5ik funktsioonid (protsessor, m\u00e4lu, sisend-v\u00e4ljund muundurid jms) on paigutatud \u00fchele kiibile, ning seet\u00f5ttu nimetatakse seda tihti ka mikrokontrolleriks.<\/li>\n<\/ul>\n\n\n\n

          <\/p>\n\n\n\n

          \"\"<\/figure>\n\n\n\n
            \n
          1. USB pistik (USB – Universal Serial Bus) port. USB pistiku abil saab Arduino arendusplaadile voolu anda ja programmikoodi laadida. Arduino kasutab USB B t\u00fc\u00fcpi pistikut.\/\u0420\u0430\u0437\u044a\u0435\u043c USB (USB \u041f\u043e\u0440\u0442) – \u041c\u043e\u0436\u0435\u0442 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u0442\u044c\u0441\u044f \u0434\u043b\u044f \u043f\u0438\u0442\u0430\u043d\u0438\u044f \u0441\u0445\u0435\u043c, \u0430 \u0442\u0430\u043a\u0436\u0435 \u0434\u043b\u044f \u0441\u0432\u044f\u0437\u0438 \u0441 \u043a\u043e\u043c\u043f\u044c\u044e\u0442\u0435\u0440\u043e\u043c.<\/li>\n\n\n\n
          2. Voolupesa. Voolupessa saab \u00fchendada voolujuhtme, millega Arduinole voolu anda. \/\u0420\u0430\u0437\u044a\u0435\u043c \u041f\u0438\u0442\u0430\u043d\u0438\u044f (\u043e\u0442 \u0431\u0430\u0442\u0430\u0440\u0435\u0438) – \u041c\u043e\u0436\u0435\u0442 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u0442\u044c\u0441\u044f \u0441 \u0431\u043b\u043e\u043a\u0430\u043c\u0438 \u043f\u0438\u0442\u0430\u043d\u0438\u044f 9 – 12 \u0412\u043e\u043b\u044c\u0442.<\/li>\n\n\n\n
          3. GND (GND \u2013 ground, eesti k maandus) pesad. Nende pesade kaudu k\u00e4ib vooluringi maandamine.<\/li>\n\n\n\n
          4. 5V (V – volt) pesa. 5V pesa kaudu saab arendusplaadi k\u00fclge \u00fchendatavaid lisakomponente varustada 5 voldise vooluga.<\/li>\n\n\n\n
          5. 3,3V pesa. 3,3V pesa kaudu saab arendusplaadi k\u00fclge \u00fchendatavaid lisakomponente varustada 3.3 voldise vooluga.<\/li>\n\n\n\n
          6. Analoogpesad (A0-A5) loevad signaali analoogsensoritest ja teisaldavad selle digitaalkujule, mida programm saab lugeda ja p\u00e4rast signaali t\u00f6\u00f6tlemist digitaalpesa kaudu v\u00e4ljastada. Analoogpesa on v\u00f5imalik vajadusel kasutada ka signaali v\u00e4ljastamiseks.\/\u041f\u043e\u0440\u0442\u044b (Analog In, Power In, Ground, Power Out, Reset) – \u0430\u043d\u0430\u043b\u043e\u0433\u043e\u0432\u044b\u0435, \u0432\u0445\u043e\u0434\u044f\u0449\u0438\u0435, \u0438\u0441\u0445\u043e\u0434\u044f\u0449\u0438\u0435, \u043f\u0438\u0442\u0430\u043d\u0438\u0435 \u0438 \u0437\u0435\u043c\u043b\u044f.<\/li>\n\n\n\n
          7. Digitaalsed pesad (D0-D13). Nende abil saab lugeda ja v\u00e4ljastada digitaalsignaali. 15<\/li>\n\n\n\n
          8. Pulsilaiusmodulatsiooni (Pulse-Width Modulation (PWM)) pesade abil saab simuleerida analoogv\u00e4ljundit.\/\u041f\u043e\u0440\u0442\u044b (ARef, Ground, Digital, Rx, Tx) – \u043e\u043f\u043e\u0440\u043d\u043e\u0435 \u043d\u0430\u043f\u0440\u044f\u0436\u0435\u043d\u0438\u0435, \u0437\u0435\u043c\u043b\u044f, \u0446\u0438\u0444\u0440\u043e\u0432\u044b\u0435 \u043f\u043e\u0440\u0442\u044b, \u043f\u043e\u0440\u0442\u044b \u043f\u0440\u0438\u0435\u043c\u0430 \u0438 \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438 \u0434\u0430\u043d\u043d\u044b\u0445.<\/li>\n\n\n\n
          9. AREF pesa abil saab vajadusel lisapesana lugeda kindla tugevusega analoogsisendit.<\/li>\n\n\n\n
          10. L\u00e4htestamise nupp (Reset button) – L\u00e4htestamise nupu vajutamisel taask\u00e4ivitatakse Arduino arendusplaadile laetud l\u00e4htekood. Kui programmi t\u00f6\u00f6 on katkenud saab nupu abil programmi taask\u00e4ivitada. Samuti on nupp mugav viis testimiseks, kui on tarvis koodi mitu korda jooksutada saab seda teha nupule vajutades. \/(\u0441\u0431\u0440\u043e\u0441) – \u0440\u0443\u0447\u043d\u043e\u0439 \u043f\u0435\u0440\u0435\u0437\u0430\u043f\u0443\u0441\u043a \u043f\u043b\u0430\u0442\u044b Arduino, \u043f\u0440\u0438\u0432\u043e\u0434\u0438\u0442 \u043a \u043f\u0435\u0440\u0435\u0437\u0430\u043f\u0443\u0441\u043a\u0443 \u0432\u0430\u0448\u0435\u0439 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u044b.<\/li>\n\n\n\n
          11. Toite LED (LED – Light-emitting Diode) tuli. Toite LED tuli l\u00e4heb p\u00f5lema, kui Arduino arendusplaat on \u00fchendatud vooluv\u00f5rguga. Kui p\u00e4rast vooluga \u00fchendamist tuli ei l\u00e4he p\u00f5lema, on oht, et arendusplaadiga on midagi valesti.\/\u0418\u043d\u0434\u0438\u043a\u0430\u0442\u043e\u0440 (\u0418\u043d\u0434\u0438\u043a\u0430\u0442\u043e\u0440 \u043f\u0438\u0442\u0430\u043d\u0438\u044f) – \u0441\u0438\u0433\u043d\u0430\u043b\u0438\u0437\u0438\u0440\u0443\u0435\u0442 \u043e \u043f\u043e\u0434\u0430\u0447\u0435 \u043f\u0438\u0442\u0430\u043d\u0438\u044f \u043d\u0430 \u043f\u043b\u0430\u0442\u0443 Arduino.<\/li>\n\n\n\n
          12. TX (TX – Transmit) RX (RX – Receive) LED tuled – Nende LED tulede abil on aru saada, kui arendusplaat v\u00f5tab andmeid vastu v\u00f5i saadab neid v\u00e4lja. Kui andmeid saadetakse, p\u00f5leb TX LED tuli, kui andmeid vastu v\u00f5etakse, p\u00f5leb RX LED tuli.\/\u0418\u043d\u0434\u0438\u043a\u0430\u0442\u043e\u0440 (RX: \u041f\u0440\u0438\u0435\u043c) – \u0418\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u0435\u0442\u0441\u044f \u0434\u043b\u044f \u0438\u043d\u0434\u0438\u043a\u0430\u0446\u0438\u0438 \u043f\u0440\u0438\u0435\u043c\u0430 \u0434\u0430\u043d\u043d\u044b\u0445, \u0435\u0441\u043b\u0438 \u043a\u043e\u043d\u0435\u0447\u043d\u043e \u044d\u0442\u043e \u043f\u0440\u043e\u043f\u0438\u0441\u0430\u043d\u043e \u0432 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0435.\u0418\u043d\u0434\u0438\u043a\u0430\u0442\u043e\u0440 (TX: \u041f\u0435\u0440\u0435\u0434\u0430\u0447\u0430) – \u0418\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u0435\u0442\u0441\u044f \u0434\u043b\u044f \u0438\u043d\u0434\u0438\u043a\u0430\u0446\u0438\u0438 \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438 \u0434\u0430\u043d\u043d\u044b\u0445, \u0435\u0441\u043b\u0438 \u043a\u043e\u043d\u0435\u0447\u043d\u043e \u044d\u0442\u043e \u043f\u0440\u043e\u043f\u0438\u0441\u0430\u043d\u043e \u0432 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0435.<\/li>\n\n\n\n
          13. ATmega328P mikrokontroller, juhib Arduino Uno arendusplaadi t\u00f6\u00f6d.<\/li>\n\n\n\n
          14. Pingeregulaator. Pingeregulaator reguleerib arendusplaadi vooluringi lastavat pinget. Kui pinge on liiga suur, muudab pingeregulaator selle plaadile sobivaks.<\/li>\n<\/ol>\n\n\n\n

            <\/p>\n\n\n\n

              \n
            • Elekter\/\u042d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u0442\u0432\u043e<\/li>\n\n\n\n
            • Elektriahi\/\u042d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0430\u044f \u0446\u0435\u043f\u044c<\/li>\n\n\n\n
            • \u0420\u0438\u0441\u043e\u0432\u0430\u043d\u043d\u0430\u044f \u0438 \u043f\u0440\u0438\u043d\u0446\u0438\u043f\u0438\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u0445\u0435\u043c\u0430(\u043f\u0440\u0438\u043c\u0435\u0440\u044b)<\/li>\n\n\n\n
            • \u0417\u0430\u043a\u043e\u043d \u041e\u043c\u0430<\/li>\n\n\n\n
            • \u041f\u0430\u0440\u0430\u043b\u043b\u0435\u043b\u044c\u043d\u043e\u0435 \u0438 \u043f\u043e\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u0442\u0435\u043b\u044c\u043d\u043e\u0435 \u0441\u043e\u0435\u0434\u0438\u043d\u0435\u043d\u0438\u0435(\u043e\u043f\u0438\u0448\u0438 \u043e\u0441\u043d\u043e\u0432\u043d\u044b\u0435 \u043f\u0440\u0438\u043d\u0446\u0438\u043f\u044b)<\/li>\n\n\n\n
            • \u041c\u0438\u043a\u0440\u043e\u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440(\u043f\u0440\u0438\u043c\u0435\u0440\u044b, \u043a\u0430\u0440\u0442\u0438\u043d\u043a\u0438). \u041f\u043e\u0434\u0440\u043e\u0431\u043d\u043e \u0440\u0430\u0437\u043e\u0431\u0440\u0430\u0442\u044c \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0438\u0435 \u043f\u043b\u0430\u0442\u044b Arduino Uno.<\/li>\n\n\n\n
            • P\u00f5hikomponeendid Arduino:<\/li>\n<\/ul>\n\n\n\n
                \n
              1. Valgusdiood (LED)\/\u0441\u0432\u0435\u0442\u043e\u0434\u0438\u043e\u0434,<\/li>\n\n\n\n
              2. Nupp\/\u043a\u043d\u043e\u043f\u043a\u0430,<\/li>\n\n\n\n
              3. Piesosummer\/\u043f\u0438\u0449\u0430\u043b\u043a\u0430,<\/li>\n\n\n\n
              4. Fototakisti\/\u0444\u043e\u0442\u043e\u0440\u0435\u0437\u0438\u0441\u0442\u043e\u0440,<\/li>\n\n\n\n
              5. Takisti\/\u0440\u0435\u0437\u0438\u0441\u0442\u043e\u0440,<\/li>\n\n\n\n
              6. Potentsiomeeter\/\u043f\u043e\u0442\u0435\u043d\u0446\u0442\u043e\u043c\u0435\u0442\u0440,<\/li>\n\n\n\n
              7. Temperatuuriandur\/\u0442\u0435\u0440\u043c\u043e\u0434\u0430\u0442\u0447\u0438\u043a,<\/li>\n\n\n\n
              8. Servomootor\/\u0441\u0435\u0440\u0432\u043e\u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044c,<\/li>\n\n\n\n
              9. Mootor\/\u043c\u043e\u0442\u043e\u0440\u0447\u0438\u043a,<\/li>\n\n\n\n
              10. Vedelkristallekraan\/LCD \u044d\u043a\u0440\u0430\u043d<\/li>\n<\/ol>\n\n\n\n

                <\/p>\n\n\n\n

                \u041f\u043e\u0434 \u0434\u0435\u0439\u0441\u0442\u0432\u0438\u0435\u043c \u043d\u0430\u043f\u0440\u044f\u0436\u0435\u043d\u0438\u044f \u0438\u0441\u0442\u043e\u0447\u043d\u0438\u043a\u0430 \u043f\u0438\u0442\u0430\u043d\u0438\u044f,<\/td>U<\/td>\u0412\u043e\u043b\u044c\u0442<\/td><\/tr>
                \u043f\u043e \u043f\u0440\u043e\u0432\u043e\u0434\u043d\u0438\u043a\u0430\u043c \u0438 \u043a\u043e\u043c\u043f\u043e\u043d\u0435\u043d\u0442\u0430\u043c \u0440\u0430\u0437\u043d\u043e\u0433\u043e \u0441\u043e\u043f\u0440\u043e\u0442\u0438\u0432\u043b\u0435\u043d\u0438\u044f,<\/td>R<\/td>\u041e\u043c<\/td><\/tr>
                \u043e\u0442 \u0432\u044b\u0441\u043e\u043a\u043e\u0433\u043e \u043f\u043e\u0442\u0435\u043d\u0446\u0438\u0430\u043b\u0430,<\/td>+<\/td>\u00ab\u043f\u043b\u044e\u0441\u00bb<\/td><\/tr>
                \u043a \u043d\u0438\u0437\u043a\u043e\u043c\u0443 \u043f\u043e\u0442\u0435\u043d\u0446\u0438\u0430\u043b\u0443<\/td>–<\/td>\u00ab\u043c\u0438\u043d\u0443\u0441\u00bb<\/td><\/tr>
                \u043f\u0435\u0440\u0435\u043d\u043e\u0441\u0438\u0442\u0441\u044f \u0437\u0430\u0440\u044f\u0434,<\/td>Q<\/td>\u041a\u0443\u043b\u043e\u043d<\/td><\/tr>
                \u0444\u043e\u0440\u043c\u0438\u0440\u0443\u044f \u044d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0442\u043e\u043a \u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0451\u043d\u043d\u043e\u0439 \u0441\u0438\u043b\u044b,<\/td>I<\/td>\u0410\u043c\u043f\u0435\u0440<\/td><\/tr>
                \u043a\u043e\u0442\u043e\u0440\u044b\u0439 \u0441\u043e\u0432\u0435\u0440\u0448\u0430\u0435\u0442 \u043f\u043e\u043b\u0435\u0437\u043d\u0443\u044e \u0440\u0430\u0431\u043e\u0442\u0443,<\/td>W<\/td>\u0414\u0436\u043e\u0443\u043b\u044c<\/td><\/tr>
                \u043f\u0440\u0435\u0432\u0440\u0430\u0449\u0430\u044f\u0441\u044c \u0432 \u0434\u0440\u0443\u0433\u0443\u044e \u044d\u043d\u0435\u0440\u0433\u0438\u044e \u0441 \u043d\u0435\u043a\u043e\u0439 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c\u044e.<\/td>P<\/td>\u0412\u0430\u0442\u0442<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
                \"\"<\/figure>\n\n\n\n
                \"\"<\/figure>\n\n\n\n
                \"\"<\/figure>\n\n\n\n

                \u0411\u044b\u0441\u0442\u0440\u0430\u044f \u0441\u0431\u043e\u0440\u043a\u0430 \u0441\u0445\u0435\u043c<\/strong><\/p>\n\n\n\n

                \u0414\u043b\u044f \u043d\u0430\u0434\u0451\u0436\u043d\u043e\u0439 \u0441\u0431\u043e\u0440\u043a\u0438 \u0443\u0441\u0442\u0440\u043e\u0439\u0441\u0442\u0432 \u0441\u043e\u0437\u0434\u0430\u044e\u0442\u0441\u044f \u0438\u043d\u0434\u0438\u0432\u0438\u0434\u0443\u0430\u043b\u044c\u043d\u044b\u0435 \u043f\u0435\u0447\u0430\u0442\u043d\u044b\u0435 \u043f\u043b\u0430\u0442\u044b. \u0415\u0441\u043b\u0438 \u0434\u0435\u043b\u0430\u0442\u044c \u0438\u0445 \u0441\u0430\u043c\u043e\u0441\u0442\u043e\u044f\u0442\u0435\u043b\u044c\u043d\u043e, \u044d\u0442\u043e \u0437\u0430\u0439\u043c\u0451\u0442 \u043c\u043d\u043e\u0433\u043e \u0432\u0440\u0435\u043c\u0435\u043d\u0438 \u0438 \u0437\u0430\u0441\u0442\u0430\u0432\u0438\u0442 \u043f\u043e\u0432\u043e\u0437\u0438\u0442\u044c\u0441\u044f \u0441 \u0445\u0438\u043c\u0438\u043a\u0430\u0442\u0430\u043c\u0438 \u0438 \u043f\u0430\u044f\u043b\u044c\u043d\u0438\u043a\u043e\u043c. \u0418\u043d\u0434\u0438\u0432\u0438\u0434\u0443\u0430\u043b\u044c\u043d\u044b\u0435 \u043f\u043b\u0430\u0442\u044b \u0441 \u043f\u0440\u043e\u043c\u044b\u0448\u043b\u0435\u043d\u043d\u044b\u043c \u043c\u043e\u043d\u0442\u0430\u0436\u043e\u043c \u043d\u0430 \u0437\u0430\u043a\u0430\u0437 \u043a\u0440\u0430\u0439\u043d\u0435 \u0434\u043e\u0440\u043e\u0433\u0438 \u043f\u0440\u0438 \u043c\u0430\u043b\u043e\u043c \u0442\u0438\u0440\u0430\u0436\u0435.\u0414\u043b\u044f \u0431\u044b\u0441\u0442\u0440\u043e\u0439 \u0441\u0431\u043e\u0440\u043a\u0438 \u044d\u043b\u0435\u043a\u0442\u0440\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u0441\u0445\u0435\u043c \u0431\u0435\u0437 \u043f\u0430\u0439\u043a\u0438 \u0438 \u0431\u0435\u0437 \u043f\u0440\u043e\u0431\u043b\u0435\u043c \u0441\u0443\u0449\u0435\u0441\u0442\u0432\u0443\u0435\u0442 \u043c\u0430\u043a\u0435\u0442\u043d\u0430\u044f \u043f\u043b\u0430\u0442\u0430. \u0415\u0451 \u0436\u0435 \u043d\u0430\u0437\u044b\u0432\u0430\u044e\u0442 \u043c\u0430\u043a\u0435\u0442\u043d\u043e\u0439 \u0434\u043e\u0441\u043a\u043e\u0439, \u043c\u0430\u043a\u0435\u0442\u043a\u043e\u0439 \u0438\u043b\u0438 breadboard\u2019\u043e\u043c.<\/p>\n\n\n\n

                \u041f\u0440\u0438\u043d\u0446\u0438\u043f \u0440\u0430\u0431\u043e\u0442\u044b<\/strong><\/p>\n\n\n\n

                \u041f\u043e\u0434 \u0441\u043b\u043e\u0435\u043c \u043f\u043b\u0430\u0441\u0442\u0438\u043a\u0430 \u0441\u043a\u0440\u044b\u0432\u0430\u044e\u0442\u0441\u044f \u043c\u0435\u0434\u043d\u044b\u0435 \u043f\u043b\u0430\u0441\u0442\u0438\u043d\u044b-\u0440\u0435\u043b\u044c\u0441\u044b, \u0432\u044b\u043b\u043e\u0436\u0435\u043d\u043d\u044b\u0435 \u043f\u043e \u043d\u0435\u0437\u0430\u043c\u044b\u0441\u043b\u043e\u0432\u0430\u0442\u043e\u043c\u0443 \u043f\u0440\u0438\u043d\u0446\u0438\u043f\u0443:<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n

                \u041f\u0440\u0438\u043c\u0435\u0440 \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u044f<\/strong><\/p>\n\n\n\n

                \u041e\u0434\u043d\u0443 \u0438 \u0442\u0443 \u0436\u0435 \u0441\u0445\u0435\u043c\u0443 \u043d\u0430 \u043c\u0430\u043a\u0435\u0442\u043d\u043e\u0439 \u0434\u043e\u0441\u043a\u0435 \u043c\u043e\u0436\u043d\u043e \u0441\u043e\u0431\u0440\u0430\u0442\u044c \u043c\u043d\u043e\u0436\u0435\u0441\u0442\u0432\u043e\u043c \u0441\u043f\u043e\u0441\u043e\u0431\u043e\u0432. \u041f\u0440\u0438\u043c\u0435\u0440 \u043e\u0434\u043d\u043e\u0439 \u0438\u0437 \u043a\u043e\u043d\u0444\u0438\u0433\u0443\u0440\u0430\u0446\u0438\u0439 \u0440\u0430\u0437\u0431\u0435\u0440\u0451\u043c \u0434\u043b\u044f \u0442\u0430\u043a\u043e\u0439 \u0441\u0445\u0435\u043c\u044b:<\/p>\n\n\n\n

                \"\"<\/figure>\n\n\n\n
                \"\"<\/figure>\n\n\n\n

                \u041d\u0430 \u0447\u0442\u043e \u0441\u0442\u043e\u0438\u0442 \u043e\u0431\u0440\u0430\u0442\u0438\u0442\u044c \u0432\u043d\u0438\u043c\u0430\u043d\u0438\u0435:\u0083 <\/p>\n\n\n\n

                  \n
                • \u0426\u0432\u0435\u0442\u0430 \u043f\u0440\u043e\u0432\u043e\u0434\u043e\u0432, \u043a\u043e\u043d\u0435\u0447\u043d\u043e \u0436\u0435, \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u044f \u043d\u0435 \u0438\u043c\u0435\u044e\u0442. \u041e\u0434\u043d\u0430\u043a\u043e \u0445\u043e\u0440\u043e\u0448\u0438\u043c \u0442\u043e\u043d\u043e\u043c \u044f\u0432\u043b\u044f\u0435\u0442\u0441\u044f\u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435 \u043a\u0440\u0430\u0441\u043d\u044b\u0445 \u043f\u0440\u043e\u0432\u043e\u0434\u043e\u0432 \u0434\u043b\u044f \u043b\u0438\u043d\u0438\u0438 \u043f\u0438\u0442\u0430\u043d\u0438\u044f \u0438 \u0447\u0451\u0440\u043d\u044b\u0445 \u0438\u043b\u0438 \u0441\u0438\u043d\u0438\u0445 \u0434\u043b\u044f \u043b\u0438\u043d\u0438\u0438 \u0437\u0435\u043c\u043b\u0438\u0083 <\/li>\n\n\n\n
                • \u041c\u044b \u043f\u043e\u0434\u043a\u043b\u044e\u0447\u0438\u043b\u0438 \u0438\u0441\u0442\u043e\u0447\u043d\u0438\u043a \u043f\u0438\u0442\u0430\u043d\u0438\u044f \u043a \u0434\u043b\u0438\u043d\u043d\u044b\u043c \u0431\u043e\u043a\u043e\u0432\u044b\u043c \u0440\u0435\u043b\u044c\u0441\u0430\u043c. \u042d\u0442\u043e \u043f\u043e\u0437\u0432\u043e\u043b\u044f\u0435\u0442 \u043d\u0435 \u0442\u044f\u043d\u0443\u0442\u044c \u043a\u043d\u0435\u043c\u0443 \u0441\u0430\u043c\u043e\u043c\u0443 \u0431\u043e\u043b\u044c\u0448\u043e\u0435 \u043a\u043e\u043b\u0438\u0447\u0435\u0441\u0442\u0432\u043e \u043f\u0440\u043e\u0432\u043e\u0434\u043e\u0432 \u0441 \u0440\u0430\u0437\u043d\u044b\u0445 \u0443\u0447\u0430\u0441\u0442\u043a\u043e\u0432 \u0441\u0445\u0435\u043c\u044b, \u0430 \u0437\u0430\u0434\u0430\u0447\u0430 \u043f\u043e \u0435\u0433\u043e \u0437\u0430\u043c\u0435\u043d\u0435\u0438\u043b\u0438 \u043f\u0435\u0440\u0435\u043c\u0435\u0449\u0435\u043d\u0438\u044e \u0441\u0438\u043b\u044c\u043d\u043e \u0443\u043f\u0440\u043e\u0449\u0430\u0435\u0442\u0441\u044f\u0083 <\/li>\n\n\n\n
                • \u041f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u0435 \u0432\u0441\u0435\u0439 \u0441\u0445\u0435\u043c\u044b \u043d\u0430 \u043c\u0430\u043a\u0435\u0442\u043d\u043e\u0439 \u0434\u043e\u0441\u043a\u0435 \u043d\u0435 \u0442\u0430\u043a \u0432\u0430\u0436\u043d\u043e. \u0412\u0430\u0436\u043d\u043e \u0432\u0437\u0430\u0438\u043c\u043d\u043e\u0435\u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u0435 \u043a\u043e\u043c\u043f\u043e\u043d\u0435\u043d\u0442\u043e\u0432 \u0434\u0440\u0443\u0433 \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u043e \u0434\u0440\u0443\u0433\u0430\u0083 <\/li>\n\n\n\n
                • \u0421\u0445\u0435\u043c\u0430 \u043f\u043e \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0430\u043b\u0438 \u043f\u043e\u0431\u0438\u0442\u0430 \u043d\u0430 \u043e\u0442\u0434\u0435\u043b\u044c\u043d\u044b\u0435 \u0443\u0447\u0430\u0441\u0442\u043a\u0438, \u043a\u043e\u0442\u043e\u0440\u044b\u0435 \u043b\u0435\u0433\u043a\u043e \u0432\u043e\u0441\u043f\u0440\u0438\u043d\u0438\u043c\u0430\u0442\u044c \u0438 \u0438\u0437\u043c\u0435\u043d\u044f\u0442\u044c\u043f\u043e \u043e\u0442\u0434\u0435\u043b\u044c\u043d\u043e\u0441\u0442\u0438<\/li>\n<\/ul>\n\n\n\n

                  <\/p>\n\n\n\n

                  \u041a\u043e\u043d\u0434\u0435\u043d\u0441\u0430\u0442\u043e\u0440<\/strong><\/p>\n\n\n\n

                  \u041a\u043e\u043d\u0434\u0435\u043d\u0441\u0430\u0442\u043e\u0440 \u2014 \u043a\u0440\u043e\u0448\u0435\u0447\u043d\u044b\u0439 \u0430\u043a\u043a\u0443\u043c\u0443\u043b\u044f\u0442\u043e\u0440, \u043a\u043e\u0442\u043e\u0440\u044b\u0439 \u043e\u0447\u0435\u043d\u044c \u0431\u044b\u0441\u0442\u0440\u043e \u0437\u0430\u0440\u044f\u0436\u0430\u0435\u0442\u0441\u044f \u0438 \u043e\u0447\u0435\u043d\u044c \u0431\u044b\u0441\u0442\u0440\u043e \u0440\u0430\u0437\u0440\u044f\u0436\u0430\u0435\u0442\u0441\u044f.<\/p>\n\n\n\n

                  \"\"<\/figure>\n\n\n\n

                  \u041e\u0441\u043d\u043e\u0432\u043d\u044b\u0435 \u0445\u0430\u0440\u0430\u043a\u0442\u0435\u0440\u0438\u0441\u0442\u0438\u043a\u0438:<\/p>\n\n\n\n

                  \u0401\u043c\u043a\u043e\u0441\u0442\u044c (\u043d\u043e\u043c\u0438\u043d\u0430\u043b)<\/td>C<\/td>\u0424\u0430\u0440\u0430\u0434<\/td><\/tr>
                  \u0422\u043e\u0447\u043d\u043e\u0441\u0442\u044c (\u0434\u043e\u043f\u0443\u0441\u043a)<\/td>\u00b1<\/td>%<\/td><\/tr>
                  \u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u043d\u0430\u043f\u0440\u044f\u0436\u0435\u043d\u0438\u0435<\/td>V<\/td>\u0412\u043e\u043b\u044c\u0442<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

                  \u041a\u043e\u0434\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u043d\u043e\u043c\u0438\u043d\u0430\u043b\u0430<\/strong><\/p>\n\n\n\n

                  \"\"<\/figure>\n\n\n\n

                  \u041d\u043e\u043c\u0438\u043d\u0430\u043b \u0432 \u043f\u0424 \u0437\u0430\u043f\u0438\u0441\u0430\u043d \u043d\u0430 \u043a\u043e\u0440\u043f\u0443\u0441\u0435. \u041f\u0435\u0440\u0432\u044b\u0435 2 \u0446\u0438\u0444\u0440\u044b \u2014 \u043e\u0441\u043d\u043e\u0432\u0430\u043d\u0438\u0435, 3-\u044f \u2014 \u043c\u043d\u043e\u0436\u0438\u0442\u0435\u043b\u044c. <\/p>\n\n\n\n

                  \u041d\u0430\u043f\u0440\u0438\u043c\u0435\u0440:\u0083 <\/p>\n\n\n\n

                    \n
                  • 220 = 22 \u00d7 100 \u043f\u0424 = 22 \u043f\u0424\u0083 <\/li>\n\n\n\n
                  • 471 = 47 \u00d7 101 \u043f\u0424 = 470 \u043f\u0424\u0083 <\/li>\n\n\n\n
                  • 103 = 10 \u00d7 103 \u043f\u0424 = 10 000 \u043f\u0424 = 10 \u043d\u0424\u0083 <\/li>\n\n\n\n
                  • 104 = 10 \u00d7 104 \u043f\u0424 = 100 000 \u043f\u0424 = 100 \u043d\u0424<\/li>\n<\/ul>\n\n\n\n

                    \u0410\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435<\/strong><\/p>\n\n\n\n

                    \u0417\u0430\u043c\u044b\u043a\u0430\u0442\u044c \u0438 \u0440\u0430\u0437\u043c\u044b\u043a\u0430\u0442\u044c \u0446\u0435\u043f\u044c, \u0438\u0437\u043c\u0435\u0440\u044f\u0442\u044c \u043d\u0430\u043f\u0440\u044f\u0436\u0435\u043d\u0438\u0435 \u0442\u0430\u043a\u0436\u0435 \u043c\u043e\u0436\u043d\u043e, \u043d\u0435 \u0432\u0440\u0443\u0447\u043d\u0443\u044e, \u0430 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u0438, \u043f\u043e \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u043c\u0443 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0443 \u043f\u0440\u0438 \u043f\u043e\u043c\u043e\u0449\u0438 \u0437\u0430\u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0438\u0440\u043e\u0432\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u0438\u043a\u0440\u043e\u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440\u0430.<\/p>\n\n\n\n

                    \u0421\u0443\u0449\u0435\u0441\u0442\u0432\u0443\u044e\u0442 \u00ab\u0441\u044b\u0440\u044b\u0435\u00bb \u043c\u0438\u043a\u0440\u043e\u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440\u044b, \u0432\u044b\u043f\u043e\u043b\u043d\u0435\u043d\u043d\u044b\u0435 \u0432 \u0432\u0438\u0434\u0435 \u043e\u0434\u043d\u043e\u0439 \u043c\u0438\u043a\u0440\u043e\u0441\u0445\u0435\u043c\u044b. \u041e\u043d\u0438 \u0434\u0451\u0448\u0435\u0432\u044b \u043f\u0440\u0438 \u043c\u0430\u0441\u0441\u043e\u0432\u043e\u043c \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u0441\u0442\u0432\u0435, \u043d\u043e \u0438\u0445 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0438 \u043f\u0440\u0430\u0432\u0438\u043b\u044c\u043d\u043e\u0435 \u043f\u043e\u0434\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0435 \u2014 \u043d\u0435\u0442\u0440\u0438\u0432\u0438\u0430\u043b\u044c\u043d\u0430\u044f \u0437\u0430\u0434\u0430\u0447\u0430 \u0434\u043b\u044f \u043d\u043e\u0432\u0438\u0447\u043a\u0430.<\/p>\n\n\n\n

                    \u0427\u0442\u043e\u0431\u044b \u0440\u0435\u0448\u0438\u0442\u044c \u044d\u0442\u0443 \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u0443, \u0441\u0443\u0449\u0435\u0441\u0442\u0432\u0443\u044e\u0442 \u0433\u043e\u0442\u043e\u0432\u044b\u0435 \u043f\u043b\u0430\u0442\u044b \u0438\u043b\u0438, \u043a\u0430\u043a \u0435\u0449\u0451 \u0433\u043e\u0432\u043e\u0440\u044f\u0442, \u0432\u044b\u0447\u0438\u0441\u043b\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u044b. \u041e\u043d\u0438 \u0434\u0435\u043b\u0430\u044e\u0442 \u043f\u0440\u043e\u0446\u0435\u0441\u0441 \u0432\u0437\u0430\u0438\u043c\u043e\u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f \u0441 \u043c\u0438\u043a\u0440\u043e\u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440\u043e\u043c \u043e\u0447\u0435\u043d\u044c \u043f\u0440\u043e\u0441\u0442\u044b\u043c. \u0422\u0438\u043f\u0438\u0447\u043d\u044b\u043c \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u0438\u0442\u0435\u043b\u0435\u043c \u044d\u0442\u043e\u0433\u043e \u0441\u0435\u043c\u0435\u0439\u0441\u0442\u0432\u0430 \u044f\u0432\u043b\u044f\u044e\u0442\u0441\u044f \u043f\u043b\u0430\u0442\u044b Arduino.<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    <\/p>\n\n\n\n

                    Robootikas\u00fcsteemid<\/strong><\/p>\n\n\n\n

                    Selles peat\u00fckis uurime robootika- ja mehhatroonikas\u00fcsteemi, selle komponente ning \u00fclesehitust. Lisaks vaatame kontrolleri funktsionaalsust ja lihtsat digitaalsignaali.<\/p>\n\n\n\n

                    Mehhatroonikas\u00fcsteem<\/strong><\/p>\n\n\n\n

                    Mehhatroonikas\u00fcsteem koosneb \u00fcldjuhul anduritest, t\u00e4ituritest ja neid juhtivast tarkvarast. Selliseid s\u00fcsteeme nimetatakse ka tarkadeks seadmeteks, kuna s\u00f5ltuvalt juhtimise keerukusest v\u00f5ivad seadmed teha keerukaid operatsioone, kohanduda keskkonnaga ja suhelda \u00fcmbritsevaga. Mehhatroonika \u00fcheks levinuimaks rakendusalaks on robootika. Robootikaga seostub iga\u00fchele mingi tark masin v\u00f5i humanoid (inimesesarnane robot), paljudele t\u00f6\u00f6stusinimestele aga manipulaator, keevitus- v\u00f5i v\u00e4rvimisrobot, jne. Siit n\u00e4htub, et inimestel on robootikast tegelikult v\u00e4ga erinev arusaam ja robotiteks v\u00f5ib nimetada v\u00e4ga erinevaid seadmeid, erineva keerukuse ja v\u00f5imekusega, kuni nad vastavad eelmises peat\u00fckis kirjeldatud n\u00f5uetele (andur-kontroller-t\u00e4itur). Joonisel 1 on n\u00e4idatud tinglik mehhatroonikas\u00fcsteem ja nooltega on n\u00e4idatud s\u00fcsteemi osade ja v\u00e4liskeskkonna omavaheline infovahetus ja selle suund.<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    Joonis 1.<\/strong> Mehhatroonikas\u00fcsteem. Andurid saavad v\u00e4liskeskkonnast informatsiooni, mida kontroller kasutab otsuste vastu v\u00f5tmiseks ning v\u00e4ljendab seda l\u00e4bi t\u00e4iturite (n\u00e4iteks liikumine).<\/p>\n\n\n\n

                    Andurid hangivad erinevat t\u00fc\u00fcpi informatsiooni seadet \u00fcmbritsevast keskkonnast (n\u00e4iteks temperatuur, teiste objektide kaugus, raadiosignaalid) v\u00f5i ka seadmest endast (n\u00e4iteks liikumiskiirus, kiirendus, mootori p\u00f6\u00f6rlemiskiirus) ning edastavad selle juhtimismoodulile. Juhtimismooduliks on tavaliselt kontroller, kus t\u00e4idetakse mingit algoritmi ehk programmi. Vastavalt programmile ja anduritelt saadud informatioonile juhib kontroller t\u00e4iturmehhanisme, milleks tihtilugu on elektrimootorid. T\u00e4ituriteks v\u00f5ivad olla ka solenoidid, tehislihased, pneumosilindrid jms. \u00dcldjuhul tekitavad t\u00e4iturmehhanismid mingi liikumise, m\u00f5jutades seega v\u00e4liskeskkonda. N\u00e4iteks v\u00f5ib tuua lihtsustatud auto turvas\u00fcsteemi ja avariisituatsiooni (joonis 2)<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    Joonis 2.<\/strong> Auto turvapadi ja s\u00fcsteemi skemaatiline mudel<\/p>\n\n\n\n

                    Turvapadja s\u00fcsteem on t\u00fc\u00fcpiline mehhatroonikas\u00fcsteem. See koosneb kolmest olulisest osast: andur, kontroller ja t\u00e4itur. Kiirendusandur registreerib j\u00e4rsu kiirenduse muutuse ja edastab vastava signaali kontrollerile. Kontrolleri algoritm katkestab k\u00f5ik muud auto juhttegevused ja saadab p\u00fcropadrunile, mis on \u00fchendatud auto turvapadjaga, k\u00e4ivitussignaali. P\u00fcropadrun vallandab turvapadja, t\u00e4ites selle kiirelt gaasiga ja kaitstes nii autojuhti l\u00f6\u00f6gi eest vastu rooli. Ongi andurkontroller-t\u00e4itur ahel l\u00e4bitud ja v\u00f5ime \u00f6elda, et tegemist on mehhatroonikaseadmega<\/p>\n\n\n\n

                    <\/p>\n\n\n\n

                    Mikrokontroller<\/strong><\/p>\n\n\n\n

                    Mehhatroonikas\u00fcsteemi \u00fcks olulisem komponent on mikrokontroller ehk l\u00fchidalt kontroller, kus toimub info t\u00f6\u00f6tlemine ja k\u00e4skude v\u00e4ljastamine t\u00e4ituritele. Kontrollerit v\u00f5ib tinglikult v\u00f5rrelda ka v\u00e4ikese arvutiga, kus k\u00f5ik funktsioonid (protsessor, m\u00e4lu, sisend-v\u00e4ljund muundurid jms) on paigutatud \u00fchele kiibile, ning seet\u00f5ttu nimetatakse seda tihti ka mikrokontrolleriks. Loomulikult ei ole sellisel juhul arvutusv\u00f5imsus v\u00f5rreldav koduarvutiga, aga on t\u00e4iesti piisav robootikas\u00fcsteemide juhtimiseks. Mikrokontroller on v\u00e4liselt sarnane tavalisele loogikal\u00fclitusele, kuid oluliseks erinevuseks on, et tema v\u00e4ljundviike saab tarkvaraliselt programmeerida nii, et nad toimivad vastavalt soovile ja kontrolleri v\u00f5imalustele. See t\u00e4hendab, et \u00fcks ja sama f\u00fc\u00fcsiline viik v\u00f5ib olla s\u00f5ltuvalt programmist sisendiks (info v\u00f5i signaal liigub kontrolleri suunas) v\u00f5i v\u00e4ljundiks (kontroller saadab signaali v\u00f5i infot). Sisendiga v\u00f5ib \u00fchendada n\u00e4iteks erinevaid andureid ja v\u00e4ljunditega erinevaid t\u00e4itureid. Signaalid on lihtsamal juhul loogilised digitaalsignaalid (0 v\u00f5i 1), kus 0 t\u00e4hendab elektriliselt pinge puudumist ja 1 \u00fcldjuhul toitepinget (n\u00e4iteks 5V). Erinevate mikrokontrollerite kuju ja digitaalsignaali graafiline esitus on toodud joonisel 3.<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    Joonis 3.<\/strong> Mikrokontrollerid erinevates korpustes (vasakul) ja lihtne digitaalsignaal: loogiline 0 ja loogiline 1 (paremal)<\/p>\n\n\n\n

                    Kontrollerite \u00fcheks erip\u00e4raks on nende v\u00e4ga lai valik. On lihtsaid ja odavaid, mis sobivad lihtsamate protsesside juhtimiseks, ning on keerukaid ja v\u00f5imsaid paljude sisend-v\u00e4ljund viikudega kontrollereid. Lisaks on kontrollerid jaotatud funktsionaalsuse ja rakendusvaldkonna j\u00e4rgi. N\u00e4iteks autot\u00f6\u00f6stuses kasutatavatele kontrolleritele esitatakse erinevad n\u00f5udmised kui kodumasinates olevatele kontrolleritele.<\/p>\n\n\n\n

                    Mehhatroonikas\u00fcsteemide ja robotite juhtimiseks on oluline tunda mikrokontrollerite v\u00f5imalusi ja osata konkreetsele kontrollerile programmi koostada. Peat\u00fcki II tase tutvustabki kontrollerite p\u00f5hilisi v\u00f5imalusi ja funktsioone.<\/p>\n\n\n\n


                    <\/p>\n\n\n\n

                    Kordamisk\u00fcsimused:<\/strong><\/p>\n\n\n\n

                    1. Mis on mehhatroonikas\u00fcsteemi peamised osad? <\/p>\n\n\n\n

                    andurid, t\u00e4iturid, kontrollerid ja mehaanilised komponendid.<\/p>\n\n\n\n

                    2. Mis on kontrolleri funktsioon mehhatroonikas\u00fcsteemis?<\/p>\n\n\n\n

                    t\u00f6\u00f6tleb kasutaja k\u00e4ske ja tajutud signaale, et genereerida k\u00e4susignaalid, mis saadetakse s\u00fcsteemi ajamile.<\/p>\n\n\n\n

                    3. Milliste seadmete abil saab robot informatsiooni?<\/p>\n\n\n\n

                    infrapuna- (IR) andurid, ultraheliandurid ja mahtuvusandurid.<\/p>\n\n\n\n

                    4. Tooge kaks n\u00e4idet (kontrolleriga \u00fchendatavat seadet), kus mikrokontrolleri f\u00fc\u00fcsiline viik peaksolema seadistatud a) v\u00e4ljundiks ja b) sisendiks.<\/p>\n\n\n\n

                    Auto turvapadi ja s\u00fcsteemi skemaatiline mudel ja Mikrokontrollerid erinevates korpustes (vasakul) ja lihtne digitaalsignaal: loogiline 0 ja loogiline 1 (paremal)<\/p>\n\n\n\n

                    <\/p>\n\n\n\n

                    Mikrokontroller<\/strong><\/p>\n\n\n\n

                    Selles peat\u00fckis uurime mikrokontrolleri lihtsustatud arhitektuuri ja loetleme peamisi mikrokontrolleri funktsioone. Lisaks vaatame mikrokontrolleriga seotavaid erinevaid sisend\/v\u00e4ljund seadmeid.<\/p>\n\n\n\n

                    Mikrokontroller<\/strong><\/p>\n\n\n\n

                    Mikrokontrollerit v\u00f5ib v\u00f5rrelda pisikese arvutiga, mis lisaks oma p\u00f5hifunktsioonile: instruktsioonide t\u00e4itmisele, omab ka k\u00fcllalt laia kiipi integreeritud perifeeriaseadmete ja liideste hulka. Liidesed v\u00f5imaldavad mingil kokkulepitud standardil toimivat andmevahetust. Mikrokontrolleri p\u00f5hiosaks on keskprotsessor, mille \u00fclesandeks on sarnaselt tavalise personaalarvuti protsessorile t\u00e4ita programmi k\u00e4ske. Erinevalt tavalisest arvutist on mikrokontrolleris samasse kiipi lisatud veel t\u00f6\u00f6m\u00e4lu (RAM), andmem\u00e4lu (EEPROM) ja programmim\u00e4lu (Flash), katkestuste kontroller ja mitmed liidesed, millest tuleb allpool t\u00e4psemalt juttu. Mikrokontrolleri skeemi on v\u00f5imalik n\u00e4ha joonisel 1. K\u00f5ik kasutatud l\u00fchendid on j\u00e4rgnevas tekstis selgitatud.<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    Joonis 1.<\/strong> Mikrokontrolleri lihtsustatud arhitektuur<\/p>\n\n\n\n

                    M\u00e4lu<\/strong><\/p>\n\n\n\n

                    Kasutaja seisukohalt on oluline eristada kahte t\u00fc\u00fcpi mikrokontrolleri m\u00e4lu. Esimeseks m\u00e4lut\u00fc\u00fcbiks on programmim\u00e4lu (Flash), kuhu laetakse mikrokontrolleri kompileeritud t\u00f6\u00f6programm, milles sisalduvad kasutaja poolt koostatud instruktsioonid kontrolleri t\u00f6\u00f6ks. Selle m\u00e4lu suurusest s\u00f5ltub, kui mahukat ja keerulist programmi on konkreetsele mikrokontrollerile v\u00f5imalik laadida. V\u00e4iksematel 8- bitistel mikrokontrolleritel nagu n\u00e4iteks ATtiny on selle m\u00e4lu suuruseks 0,5 \u2013 8 kB ja suurematel sama tooteperekonna liikmetel ATmega 4 \u2013 256 kB ning 32-bitistel kontrolleritel kuni 512 Kb. Teiseks m\u00e4lut\u00fc\u00fcbiks on andmem\u00e4lu ehk EEPROM, mida saab kasutada sarnaselt arvuti k\u00f5vakettaga andmete s\u00e4ilitamiseks ka siis, kui kontrolleri toide v\u00e4lja l\u00fclitada. M\u00e4lu maht v\u00f5rreldes tavalise k\u00f5vakettaga on v\u00e4ga v\u00e4ike, nt ATmega32 puhul 1024 baiti. Suuremate andmemahtude puhul on aga suhteliselt lihtne \u00fchendada kontrolleriga tavaline v\u00e4lkm\u00e4lu kaart (SD kaart) ja salvestada andmed sinna.<\/p>\n\n\n\n

                    Registrid<\/strong><\/p>\n\n\n\n

                    Registriteks nimetatakse mikrokontrolleri m\u00e4lupesasid, millel on kindel aadress ja nimi. Piltlikult on tegemist nagu l\u00fclititega, mida saab programmiliselt sisse ja v\u00e4lja l\u00fclitada ning kus igal niinimetatud l\u00fclitil on oma otstarve ja t\u00e4hendus, n\u00e4iteks muudab viigu suunda, l\u00fclitab sisse mingi funktsiooni v\u00f5i v\u00e4ljendab sisendandmeid (vt joonis 2). Kui tegemist on 8-bitise mikrokontrolleriga, siis on enamus registreid ka kaheksakohalised. Piltlikult oleks tegemist kaheksast l\u00fclitist koosneva paneeliga.<\/p>\n\n\n\n

                    \"\"<\/figure>\n\n\n\n

                    Joonis 2.<\/strong> Kontrolleri registri ja kujuteldavate l\u00fclitite illustratsioon.
                    <\/p>\n\n\n\n

                    juhtprogramme – \u0444\u043b\u0430\u0433\u043c\u0430\u043d\u0441\u043a\u0438\u0435 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u044b<\/p>\n\n\n\n

                    keetamine – \u043f\u0440\u0438\u0433\u043e\u0442\u043e\u0432\u043b\u0435\u043d\u0438\u0435<\/p>\n\n\n\n

                    v\u00e4rmine – \u0440\u0430\u0441\u043a\u0440\u0430\u0441\u043a\u0430<\/p>\n\n\n\n

                    kokkupanek – \u0441\u0431\u043e\u0440\u043a\u0430<\/p>\n\n\n\n

                    kirendata – \u043e\u0442\u043f\u0440\u0430\u0432\u0438\u0442\u044c<\/p>\n\n\n\n

                    ohutumist – \u0431\u0435\u0437\u043e\u043f\u0430\u0441\u043d\u043e\u0441\u0442\u044c<\/p>\n\n\n\n

                    t\u00e4psus – \u0442\u043e\u0447\u043d\u043e\u0441\u0442\u044c<\/p>\n\n\n\n

                    kiirus – \u0421\u043a\u043e\u0440\u043e\u0441\u0442\u044c<\/p>\n\n\n\n

                    kallis alustada – \u0434\u043e\u0440\u043e\u0433\u043e \u043d\u0430\u0447\u0438\u043d\u0430\u0442\u044c<\/p>\n\n\n\n

                    t\u00e4itur – ispolnitel<\/p>\n\n\n\n

                    <\/p>\n\n\n\n

                    <\/p>\n","protected":false},"excerpt":{"rendered":"

                    Robootika kolm p\u00f5hiseadust on reeglid, mille m\u00f5tles v\u00e4lja ulmekirjanik Isaac Asimov. Reeglid ilmusid esmakordselt 1942. aastal Asimovi l\u00fchijutus “Runaround”. Need kolm reeglit on j\u00e4rgmised:1. Robot ei tohi oma tegevuse ega tegevusetusega inimesele kahju teha.2. Robot peab alluma inimese antud k\u00e4sule, kui see ei l\u00e4he vastuollu esimese seadusega.3. Robot peab kaitsma oma olemasolu, kuni see ei ole vastuolus […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[26],"tags":[],"class_list":["post-1045","post","type-post","status-publish","format-standard","hentry","category-web-develompent"],"yoast_head":"\nKonspekt - Hussein Tahmazov portfolio eng<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/khusseintakhmazov24.thkit.ee\/wp\/eng\/?p=1045\" \/>\n<meta property=\"og:locale\" content=\"en_GB\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Konspekt - Hussein Tahmazov portfolio eng\" \/>\n<meta property=\"og:description\" content=\"Robootika kolm p\u00f5hiseadust on reeglid, mille m\u00f5tles v\u00e4lja ulmekirjanik Isaac Asimov. Reeglid ilmusid esmakordselt 1942. aastal Asimovi l\u00fchijutus “Runaround”. Need kolm reeglit on j\u00e4rgmised:1. Robot ei tohi oma tegevuse ega tegevusetusega inimesele kahju teha.2. Robot peab alluma inimese antud k\u00e4sule, kui see ei l\u00e4he vastuollu esimese seadusega.3. 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