WIRELESS CONTROLLER ROBOTIC ARM (SOFTWARE)

PEREGAS s/o GHANESEN

Bachelor of Technology (Electrical and Electronics)Department of Engineering and TechnologyFaculty of Information Sciences and Engineering

ABSTRACT:

In this project, a prototype called ‘Wireless Controlled Robotic Arm’ is developed to operate several function such as to take or hold an object and also to move an object to another position . This prototype used DC motors for movement in every angle of Wireless Controlled Robotic Arm. In this case , four DC motors are used for the movement of Wireless Controlled Robotic Arm .The prototype is controlled using a control toggle switch through an interfacing program developed into the IC. RF Transmitter-Receiver is used as a wireless connectivity between the prototype and the control toggle switch . The distance between prototype and the control toggle switch is limited by the range of the RF transmitter-receiver. The prototype is established by combining the hardware ( mechanical, electronically ) and software in order to function completely.

Microcontroller is a device that incorporates the functions of a computer’s Central Processing Unit (CPU) on a single Integrated Circuit (IC, or , microchip). It is a multipurpose, programmable, clock-driven, register based electronic device that accepts binary data as input, processes it according to the instructions stored in its memory, and provides results as outputs. PIC16F877A is one of the most used PICs in the industries

nowadays. It is user friendly, and also easy to use. In order to build our Wireless Controlled Robotic Arm , we decide to use PIC16F877A which will be the main controller of the circuit, where all the control toggle switch circuitry will be connected to the main controller.

Keyword: Industrial Arm Robot, RF Arm Robot,and Freedom Robotic Arm

1.1 INTRODUCTION

Robotics is a valuable educational tool that introduces students to a variety of different engineering disciplines such as electrical, computer, and mechanical engineering. In order to prove that, this project can be accomplished with development of a Wireless Controlled Robotic Arm. Our Wireless Controlled Robotic Arm designed to pick up or to move object from one place to another especially places that cannot be reach and show the weight of the object via the LCD. It is a combination of robotic arm and weight indicator, which is controlled by remote control toggle using wireless connection .The programming software that going to be used is MP Lab software as the interface to control the robot movement. The arm are controlled by a controller

where the signal is received from the computer to RF communication. We have chosen PIC16F877A to be

used in this project. The PIC16F877A is a user-friendly PIC, each pin has only two or three functions hence this makes it easier to decide what the pin functions. On the other hand, other PICs have up to five functions which will cause complication in deciding the pin`s functions.

1.2 SCOPES OF WORK

The scopes for the project are:I. The robot consists of four Degree Of

FreedomII. Able to move all over the direction

III. Able to hold a object and to move an object to another position or place

IV. Able to show the weight of object on the Lifting progressing via the LCD

V. Control arm using MP Lab softwareVI. Transmit data from the remote control

toggle switch to the motor driver at prototype use the wireless system such as radio frequency (RF) that receive and transmit the data .

1.3 PROBLEM STATEMENT

Am robots have become important over a wide range of applications mostly in manufacturing, to surgery, to the handling of hazardous materials. Now days in many applications this arm robot movement are totally control by programmable systems such as PIC controller and other programming language, so in this case the robot will perform the movement as to what is programmed by programmer. So this controlling method may cause a user can’t perform the work required. This type of arm robot just picking parts up and placing them in new locations without not significant the weight of the goods is taken this may cause losses to the user. When build a robot that using microcontroller, the most common kind of robot failure is not electronic or mechanical failure but rather failure of the software that control the robot movement. The problems which may occur without the development of Wireless Controlled Robotic Arm are when the limited distance has been

the issue where the Wireless Controlled Robotic Arm

cannot reach greater range to perform its duties.

1.4 OBJECTIVE OF THE PROJECT

The objectives of this project are to design and built an Wireless Controlled Robotic Arm which can do weighting process and transfer of material and also can display the weight that carried. Usually the weighting process and transfer process of material is being carried out using man power and if the transfer process is repeated for a period of time, it can cause injuries to the operator. So to prevent this issue the manufacture can apply this upgraded arm because this type of robot is totally by RF signal and has weight display so it will be reduce dependence on workforce and increase the efficiency of work.

The main objective of this project are :

I. To design and combine a robotic arm with weight indicator

I. To construct a wireless communication system using RF.

I. To develop a robot that is controlled by microcontroller using MP lab software.

1.5 INDIVIDUAL OBJECTIVE

Software

This section is to show the individual objective of the software part. My individual objective is to write a Assembly programming language code to be burned into the microcontroller; which a program have been developed using microcontroller MP lab software. If occur problem execute the problem and check for errors (if any) and embed into microcontroller.The main individual objectives are: To programs the encode and decode of the

RF wireless function in to the IC16F877A use the MP Lab programming software .

To control the arm robot prototype use the microcontroller using MP Lab software

PIC MICROCONTROLLER

PIC16F877A

For this project, the controller for the movement is PIC microcontroller. We will describe about the PIC microcontroller and at the same time, it will give more understanding for me to employ this controller. Almost all type of PIC microcontroller is included in a class of 8-bit microcontrollers of RISC architecture. Basically, the PIC architecture is minimized to be a simpler item but it still operates at the same function. The Harvard architecture is a newer concept than von-Neumann. It was designed as a response for the need to speed up the work of a microcontroller. In Harvard architecture, data bus and address bus are separate. Thus, the data will flow directly through the central processing unit and the address bus is neglected. This greater flow of data will impact for a greater speed of work. Besides that, the architecture will involve for a small number of a fixed length instruction. It means the instruction is not to have to be 8-bit words but it can uses 14 bits for instructions which allows for all instruction to be one word instructions. Microcontrollers with Harvard architecture are called "RISC microcontrollers". RISC is a short form for Reduced Instruction Set Computer. Microcontrollers with von-Neumann's architecture are called 'CISC microcontrollers'. CISC is a short form for Complex Instruction Set Computer. Same as discussion before, RISC microcontroller has a reduced set of instructions, maybe 35 instructions for one cycle. If we compared it with Intel’s and Motorola’s microcontroller, it has over hundred instructions.

As a simplified point, we can say that the features of PIC microcontroller are:

(i) Separate code and data spaces (Harvard architecture).(ii) A small number of fixed length instructions.(iii) Most instructions are single cycle execution (4 clock cycles), with single delay cycles upon branches and skips.

(iv) All RAM locations function as registers as both source and/or destination of math and other functions.(v) A hardware stack for storing return addresses.(vi) A fairly small amount of addressable data space (typically 256 bytes), extended through banking.(vii) Data space mapped CPU, port and peripheral registers.(viii) The program counter is also mapped into the data space and writable.

Figure 1:PIC16F877A

Figure 2: Block diagram of internal architecture of PIC16F877A

1.5 ASSUMPTION AND LIMITATION

The speed of robot arm movement is depend on the weight that picked up. Greater weight will make the robot arm movement a bit slow than lighter. The robot arm is built in a small scale due to budget limitation. So the range of the pick and place of the robot arm is limited. The designed gripper cannot pick the object in thin shape like ruler. This robot has some delay time during data transaction and this robot can lift a weight of 600g and sound if weighing more than 100g.

1.6 WIRELESS CONTROLLED

ROBOTIC ARM

a) Overview

This chapter will discuss the methods and alternatives that have been used from the beginning until the end of this project. This chapter explains detail about the methodology of the whole system and flow of step that used in “Wireless Arm Robot”. This chapter also describes further more about the planning of the whole project that is an overview of all the circuit combined

USER SECTION

Figure 3: User controller section

This is a main circuit in user section and the microcontroller will control all operations in this section. When toggle switch sends input Signal and microcontroller will process to be sent to the robot section by transmitter. While this section will also receive a signal or data (tracking weight) from the robot section by receiver to displayed in the display. The reset button switch used to reset memory for next operation and the buzzer wills on if the weight is exceeded. The range of transmitter and receiver is 433Mhz and 315Mhz to send and receive data.

ROBOT SECTION

Figure 4: Robot controller section

This is Robotics controller circuit and this circuit is totally control by microcontroller. The dc motor that joint in robotics arm will operate after the microcontroller received signal from user section .And this microcontroller send data(weights) to user section by transmitter. The range of transmitter and receiver is 433Mz and 315Mz to send and receive data.

Figure 5: Motor controller section

Figure 6: relay function diagram

When, for example, relay 1 activated and relay 2 de-activated, NO1 connected to COM1 and NC2 connected to COM2, battery current flows from positive contact -> NC2 -> COM2 -> DC motor's lower contact -> DC motor's upper contact -> COM1 -> NO1 -> battery negative contact

And when relay 1 is de-activated and relay 2 is activated, NC1 connected to COM1 and NO2 connected to COM2, battery current flows from positive contact -> NC1 -> COM1 -> DC motor's upper contact -> DC motor's lower contact -> COM2 -> NO2 -> battery negative contact

1.7 FLOW CHART

Figure 6: Activity Flow Chart

Figure 7: System Flow Chart

1.8 PROGRAMMING OF THE WIRELESS CONTROLLER ROBOTIC ARM

The program will be written by using MP Lab PRO for PIC. The MP Lab PRO for PIC is a powerful, feature-rich development tool for PIC microcontrollers. It is designed to provide the programmer with the easiest possible solution to developing applications for embedded systems, without compromising performance or control. PIC, and assembly programming language fit together well. PIC is the most popular 8-bit chip in the world, used in a wide variety of applications, and assembly programming language, prized for its efficiency, is the natural choice for developing embedded systems.

Figure 8: MP Lab Compiler

1.9 CODING FOR PROJECT

Coding for Transmitter

Figure 9: Example of programming

Coding for Receiver

Figure 10: Example of programming

2.0 SIMULATION OF PROGRAM

Before uploading the hex file to the microcontroller, the hex file was simulated using PIC Kit2 Simulator to verify whether the program was written correctly. PIC Kit2 Simulator is powerful application that supplies PIC developers with user-friendly graphical development environment for Windows with integrated simulator (emulator), Basic compiler,

assembler, disassemble and debugger. The first few attempts of simulating the software showed some errors.

Figure 11: PIC Kit 2 Simulation Software

2.1 TOOLS & HARDWARE

MECHANICAL SUBSYSTEM

Power Supply ( 12V Alkaline Battery ) Motor Driver (4x relay ) Motor ( 4 x DC Motor, Base, Left and

Right ) Sensor ( 1x VR Sensor ) Voltage Regulator ( LM7805 ) Microcontroller ( 2 x PIC Microcontroller ) LED 2X 16 LCD

 

SOFTWARE SUBSYSTEM

There are several types of software we used:

MP Lab Software PIC Kit2 Simulator Software Assembly Programming language Eagle software PIC microcontroller

2.2 SUMMARY, CONCLUSION AND RECOMMENDATION

Conclusion

The wireless robotic arm that designed by this project can pick and place object ,or any heavy object from one place to another place, this kind of robotic arm can be use in heavy industrial . The workers in heavy industrial can use this wireless robotic arm to pick the object and replace the object in other place without any injuries, other than that the workers also can measure the weight of object that lift by using the wireless robotic arm via the LCD display, it’s make the work easier where their can replace the object and get the weight reading.

Recommendation

The design of this wireless robotic arm in this project is just a basic prototype. It still can be improved and upgrade its function and application .The idea of design should be highlighted for future development.

The motor controller circuit and the program coding in this wireless robotic arm can be modify to achieving variable speed of DC motor and the speed must be controllable by robot arm user. The speed of DC motor turning determines the speed of the robot arm movement.

This wireless robotic arm operates within a small range only. If user wants to use it in another place means user need to bring it. This wireless robotic arm can be modified by adding wheels so the robot arm can move by the control of the toggle remote control.

2.3 ACKNOWLEDGEMENT

Special thanks to Mr. Baharudin Hamzah as the supervisor and advisor for the project. Also credits to Mr. Kumaresan s/o Sivalingam as the partner for the project. The project success also to the other contributors and without their knowledge the project will not got this far. The contributor lists are in the references section

of a solar power system for use by domestic or

REFERENCES

[1]http://whatis.techtarget.com/definition/PIC-microcontrollers

[2] http://www.circuitstoday.com/peripheral-interface-controller-pic

[3] http://www.circuitstoday.com/introduction-to-pic-16f877

[4] http://www.instructables.com/id/Programming-PIC-Microcontrollers/

[5]http://physics.ucsd.edu/neurophysics/courses/physics_120/7555.pdf

[6] http://iccatalog.parsiblog.com/Posts

[7]https://www.microchip.com/pagehandler/en-us/family/mplabx/