Robot Project Report Robotics

DTMF CONTROLLED PIC n PLACE ROBO

Prepared By Gaurav Arora [email protected] Ph- +919728084305

Himanshu Manik  [email protected] Ph- +919996903090 Aman Dua

[email protected] Ph-+919728179191

VAISH COLLEGE OF ENGINEERING

Ackonowledgement

This Project is the result of the dedication and encouragement of many individuals. My sincere and heartfelt appreciation goes to all of them. Firs Firstl tly, y, I woul would d like like to than thank  k  Professor B.P. Arun the most most knowl knowled edgea geabl blee and and Arun , the experienced person on the 8051 that I know. He is the one who introduced me to this microcontroller and was always there, ready to discuss 8051 architecture and programming. Also I would like to express my sincere thanks to Er. Manish who assist me althrough the making of the robot.

-- Gaurav Arora -- Himanshu Manik  -- Aman Dua

Project

PICK & PLACE ROBOT

Contents

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Embedded design Robotics & automation Robot Fabrication of robot Major components of robot H-bridge Microcontroller Programming Input devices Output devices Power supply Comparision between human and robot Advantages of robot Application of robot

Project report

Embedded design The majority of computer systems in use today are embedded in other machinery, such as automobiles, telephones, appliances, and peripherals for computer systems. Thes Thesee are are call called ed embe embedd dded ed syst system ems. s. Whil Whilee some some embe embedde dded d syst system emss are are very very sophisticated, many have minimal requirements for memory and program length, with no operating system, and low software complexity. Typical input and output devices includ includee switch switches, es, relays relays,, solenoi solenoids, ds, LEDs, LEDs, small small or custom custom LCD displa displays, ys, radio radio frequency devices, and sensors for data such as temperature, humidity, light level etc. Embedd Embedded ed system systemss usuall usually y have no keyboa keyboard, rd, screen, screen, disks, disks, printe printers, rs, or other  other  recognizable I/O devices of a personal computer, and may lack human interaction devices of any kind. In general, an Embedded System: 

Is a system built to perform its duty, completely or partially independent of  human intervention.

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Is specially designed to perform a few tasks in the most efficient way.

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Intera Interacts cts with with physic physical al elemen elements ts in our enviro environme nment, nt, viz. viz. control controllin ling g and driving a motor, sensing temperature, etc.

An embed embedde ded d syst system em can can be defi define ned d as a cont contro roll syst system em or comp comput uter er syst system em designed to perform a specific task. Common examples of embedded systems include MP3 MP3 play player ers, s, navi naviga gati tion on syst system emss on airc aircra raft ft and intr intrud uder er alar alarm m syst system ems. s. An embedded system can also be defined as a single purpose computer.

Most embedded systems are time critical applications meaning that the embedded system is working in an environment where timing is very important: the results of an operation are only relevant if they take place in a specific time frame. An autopilot in an aircraft is a time critical embedded system. If the autopilot detects that the plane

for some reason is going into a stall then it should take steps to correct this within milliseconds or there would be catastrophic results

Robotics & Automation Automation & Robotics are two closely related technologies. In an, industrial context, we can defi define ne autom automat atio ion n as Tech Techno nolo logy gy that that is conc concer ern n with with the the use use of mecha mechani nical cal electronics & computer based system in the op eration & control of products. There are three broad classes of Industrial Automation:• •

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Fixed Automation: If the volume of product is very high Progra Programma mmable ble Automa Automatio tion: n: If the volume volume of produc productio tion n is less less & verit verity y of   products are more. Flexible Automation: It is a mixer of fixed & programmable.

Robotics Robotics is the science of dealing with the robotics and includes design, selection of  material of proper quality for the components. Fabrication, the study of various motors ( i.e. stepper or D.C. motors ) required required for moving the components, design of electronic electronic circuits. Microcontroller/ computer & its programming programming & controls of Robots. In other words Robotics involves various disciplines: Mechanical engineering, Material sciences, Electronics , Computer sciences ,Computer eng ineering & control system.

What is robot? Robot is a type of mechanical slave with great strength. You can say it’s it’s a reprog reprogram rammab mable, le, multif multifunct unction ional, al, manipu manipulat lator or design designed ed to move move material , parts ,tools or specialized . Devices through variable programmed motions for  the performance of a variety of task.

HOW A ROBOT IS FABRICATED? Let us look at the various component that constitute Robot: When you visit in an industry you will find that the majority of work is done by Human standing in a fixed location’ One point is to be noted that the human being performing the task assigned to him with with the help of five major parts of his body. ARM:

Made up of joints & links

GRIPPER :

Made up of Palm & Fingers.

MUSCLE:

To move the Arm, Palm & Fingers.

BRAIN:

To control the movement of Arm,Palm & Finger.

Eye, Eye, Ear Ear & Skin Skin to provid providee valua valuable ble inform informati ation on to to brain brain in SENSE ORGANS : controlling the action of various parts

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Anal Analog ogou ousl sly y th thee Robo Robott can can be de defi fin ne into into five five major components :-

The Manipulator :-

It is just like like a human arm. There are several joints and links links for the No. of degree of  freedom.for the rotaion rotaion of X-axis,Y-axis & Z-axis.

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. The Endeffector ( Gripper )

It is same like that , end of the human arm i.e. Palm & Finger used to pick &  place things.The gripper has motor at the joint to open & close the claw. Hence various objects can be hold between the fingers of claw.

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The Locomotive device ( Motor):-

This one is like the human muscles”, The power source for the movement of  Manipulator & Endeffector ( Gripper )

How do we make a motor turn? You take a battery; hook the positive side to one side of your DC motor. Then you connect the negative side of the battery to the other motor lead. The motor spins forward. If you swap the battery leads the motor spins in reverse. Ok, that's basic. Now let’s say you want a Micro Controller Unit (MCU) to control the motor, how would you do it? Well, for starters you get a device that wou ld act like a solid state switch, a transistor, and hook it up the motor. For this we use combination of  transistor switches known as H-BRIDGE. An H-bridge is an electronic circuit which enables a voltage to be applied across a load in either direction. These circuits are often used in robotics and other applications to allow allow DC moto motors rs to run run forwa forward rdss and backw backwar ards ds . H-br H-brid idge gess are are avai availa labl blee as integrated circuits, or can be built from discrete components.

H BRIDGE Basic Theory:Let's start with the name, H-bridge. Sometimes called a "full bridge" the H-bridge is so named because it has four switching elements at the "corners" of the H and the motor  forms the cross bar. The basic bridge is shown sho wn in the figure to the right.

Of course the letter H doesn't have the top and bottom joined together, but hopefully the  picture is clear. The key fact to note is that there are, in theory, four switching elements within the bridge. These four elements are often called, high side left, high side right, low side right, and low side left (when traversing in clockwise order). The switches are turned on in pairs, either high left and lower right, or lower left and high right, but never both switches on the same "side" of the bridge. If both switches on one side of a bridge are turned on it creates a short circuit between the battery plus and  battery minus terminals. This phenomena is called shoot through in the Switch-Mode Power Supply (SMPS) literature. If the bridge is sufficiently powerful it will absorb that load load and your your batter batteries ies will will simply simply drain drain quickl quickly. y. Usuall Usually y howeve howeverr the switches switches in question melt. To power the motor, you turn on two switches that are diagonally opposed. In the picture to the right, imagine that the high side left and low side right switches are turned on. The current flow is shown in green.

The current flows and the motor begins to turn in a "positive" direction. What happens if  you turn on the high side right and low side left switches? You guessed it, current flows the other direction through the motor and the motor turns in the opposite op posite direction. Actually it is just that simple, the tricky part comes in when you decide what to use for  switches. Anything that can carry a current will work, from four SPST switches, one DPDT switch, relays, transistors, to enhancement mode power MOSFETs. One more topic in the basic theory section, quadrants. If each switch can be controlled independently then you can do some interesting things with the bridge, some folks call such a bridge a "four quadrant device" (4QD get it?). If you built it out of a single DPDT relay, you can really only control forward or reverse. You can build a small truth table that tells you for each of the switch's states, what the bridge will do. As each switch has one of two states, and there are four switches, there are 16 possible states. However, since any state that turns both switches switches on one side on is "bad" (smoke issues issues forth), there are in fact only four useful states (the four quadrants) where the transistors are turned on.

The last two rows describe a maneuver where you "short circuit" the motor which causes the motors generator effect to work against itself. The turning motor generates a voltage which tries to force the motor to turn the opposite direction. This causes the motor to rapidly stop spinning and is called "braking" on a lot of H-bridge designs. Of course there is also the state where all the transistors are turned off. In this case the motor coasts if it was spinning and does nothing if it was doing nothing. Semiconductor H-Bridges

We can better control our motor by using transistors or Field Effect Transistors (FETs). Most of what we have discussed about the relays H-Bridge is true of these circuits. You don't need diodes that were across the relay coils now. You should use diodes across your  transistors though. See the following diagram showing how they are connected. These solid state circuits provide power and ground connections to the motor, as did the relay circuits. The high side drivers need to be current "sources" which is what PNP transistors and P-channel FETs are good at. The low side drivers need to be current "sinks" which is what NPN transistors and N-channel FETs are good at. If you turn on the two upper circuits, the motor resists turning, so you effectively have a breaking mechanism. The same is true if you turn on both of the lower circuits. This is because the motor is a

generator and when it turns it generates a voltage. If the terminals of the motor are connected (shorted), then the voltage generated counteracts the motors freedom to turn. It is as if you are applying a similar but opposite voltage to the one generated by the motor being turned. Vis-ã-vis, it acts like a brake.

To be nice to your transistors, you should add diodes to catch the back voltage that is generated by the motor's coil when the power is switched on and off. This flyback 

voltage can be many times higher than the supply voltage! If you don't use diodes, you could burn out your transistors. Transistors, being a semiconductor device, will have some resistance, which causes them to get hot when conducting conducting much current. current. This is called not being able to sink or source very much power, i.e.: Not able to provide much current from ground or from plus voltage. Mosfets are much more efficient, they can provide much more current and not get as hot. They usually have the flyback diodes built in so you don't need the diodes anymore. This helps guard against flyback voltage frying your MCU. To use Mosfets in an H-Bridge, you need P-Channel Mosfets on top because they can "source" power, and N-Channel Mosfets on the bottom because then can "sink" power.  N-Channel  N-Channel Mosfets are much cheaper than P-Channel Mosfets, Mosfets, but N-Channel N-Channel Mosfets used to source power require about 7 volts more than the supply voltage, to turn on. As a result, some people manage to use N-Channel Mosfets, on top of the H-Bridge, by using cleaver circuits to overcome the breakdown voltage. It is important that the four quadrants of the H-Bridgecircuits be turned on and off   properly. When there is a path between the positive and ground side of the H-Bridge, other than through the motor, a condition exists called "shoot through". This is basically a direct short of the power supply and can cause semiconductors to become ballistic, in circuits with large currents flowing. There are H-bridge chips available that are much easier, and safer, to use than designing your own H-Bridge circuit.

Circuit diagram:-

 H-bridge

on PCB

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7

1

1. 2. 3. 4. 5. 6. 7. 8.

2

3

4

5

Moto Motorr Supp Supply ly (+12V (+12V / +24 +24V) V) Logi Logicc Sup Suppl ply y (+5V (+5V)) Clock Clockwis wisee (Activ (Activee Low) Low) Coun Counter ter-Cl -Cloc ockw kwise ise (Acti (Active ve Low) Low) Ground Point Pointss to to be be sol solder dered ed with with DC motor motor Powe Powerr Tr Tran ansi sist stor or Opto-Co Opt o-Couple uplerr Device Device to provi provide de isola isolation tion

Discussion:

The The above above h-br h-brid idge ge thus thus can can be used used for for movi moving ng moto motors rs.t .thu huss the the ‘Dif ‘Diffe fere rent ntia iall Mechanism’ using two DC Motors is shown below.

DC MOTOR 1

DC MOTOR 2

BASE

Figure 1 – Forward Motion

DC MOTOR 1

DC MOTOR 2

BASE

In the above figures, a simplifiedFigure differential motor mechanism has been shown. Figure 1 2 – Right Motion shows the mechanism involved in Forward motion. Basically, in this both the shafts rotate in the same direction (looking from the left, anti-clockwise). For backward motion,

 just the direction of both the shafts is reversed (looking from the left, clockwise) and the rest remains same. Figure 2 shows the direction of rotation for the 2 motor shafts for taking a right turn. In this, the motor on the right moves such that it makes a backward rotation (clockwise, looking from left) while the motor on the left continues to rotate in the forward direction. This makes the vehicle turn in the right. A similar effect can be achieved by stopping the right motor, although that would be a bit unreliable and backward rotation while the right motor makes the forward rotation

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The Controller :-

(Microprocessor, Microcontroller or PC) It is just like a “ Human Brain” to controlling the action of Robotic components i.e. Manipulator, Endeffector ( Gripper ) and locomotive ( Motor ) These can be programmed according to the task performed.

Microcontroller 

A microcontroller (also MCU or µC) is a functional computer system-on-a-chip. It contains a processor core, memory, and programmable input/output peripherals. Microc Microcont ontrol roller lerss includ includee an integr integrate ated d CPU, CPU, memory memory (a small small amount amount of RAM, RAM,  program memory, or both) and peripherals capable of input and output.

It emphasizes high integration, in contrast to a microprocessor which only contains a CPU (the kind used in a PC). In addition to the usual arithmetic and logic elements of  a general purpose microprocessor, the microcontroller integrates additional elements such as read-write memory for data storage, read-only memory for program storage, Flash memory for permanent data storage, peripherals, and input/output interfaces. At clock speeds of as little as 32KHz, microcontrollers often operate at very low speed compar compared ed to microp microproc rocess essors ors,, but this this is adequat adequatee for typica typicall applica applicati tions. ons. They They consume relatively little power (milliwatts or even microwatts), and will generally have the ability to retain functionality while waiting for an event such as a button  press or interrupt. Power consumption while sleeping (CPU clock and peripherals disabled) may be just nanowatts, making them ideal for low power and long lasting  battery applications. Microcontrollers are used in automatically controlled products and devices, such as automobile automobile engine control systems, systems, remote remote controls, controls, office office machines, machines, appliances, appliances,  power tools, and toys. By reducing the size, cost, and power consumption compared to a design design using using a separa separate te microp microproc rocess essor, or, memory memory,, and input/ input/out output put device devices, s, microcontrollers make it economical to electronically control many more processes.

Interrupts It is mandatory that microcontrollers provide real time response to events in the embedd embedded ed system system they they are control controllin ling. g. When When certai certain n events events occur, occur, an interr interrupt upt system system can signal signal the proces processor sor to suspend suspend proces processin sing g the curren currentt instr instruct uction ion sequence and to begin an interrupt service routine (ISR). The ISR will perform any   proce processi ssing ng requir required ed based based on the source source of the interr interrupt upt before before return returning ing to the original instruction sequence. Possible interrupt sources are device dependent, and often include events such as an internal timer overflow, completing an analog to digital conversion, a logic level change on an input such as from a button being  pressed, and data received on a communication link. Where power consumption is important as in battery operated devices, interrupts may also wake a microcontroller  from a low power sleep state where the processor is halted until required to do something by a peripheral event

Other microcontroller features Since embedded processors are usually used to control devices, they sometimes need to accept input from the device they are controlling. This is the purpose of the analog to digital converter. Since processors are built to interpret and process digital data, i.e. 1s and 0s, they won't be able to do anything with the analog signals that may be being sent to it by a device. So the analog to digital converter is used to convert the incoming data into a form that the processor can recognize. There is also a digital to analog converter that allows the processor to send data to the device it is controlling.

In addition to the converters, many embedded microprocessors include a variety of  timers as well. One of the most common types of timers is the Programmable Interval Timer, or  PIT for short. A PIT just counts down from some value to zero. Once it reaches zero, it sends an interrupt to the processor indicating that it has finished counting. This is useful for devices such as thermostats, which periodically test the temperature around them to see if they need to turn the air conditioner on, the heater on, etc.

Time Processing Unit or TPU for short. Is essentially just another timer, but more sophisticated. In addition to counting down, the TPU can detect input events, generate output events, and other useful operations.

Dedicated Pulse Width Modulation (PWM ) block makes it possible for the CPU to control power converters, resistive loads, motors etc.. without using lot's of CPU resources in tight timer loops.

Universal Asynchronous Receiver/Transmitter (UART) block makes it possible to receive and transmit data over a serial line with very little load on the CPU.

For those wanting ethernet one can use an external chip like Crystal Semiconductor CS8900A CS8900A,, Realtek Realtek RTL8019 RTL8019,, or Microch Microchip ip ENC 28J60 (buggy (buggy ). All of them allows easy interfacing with low pin count.

Higher integration In contrast to general-purpose CPUs, microcontrollers may not implement an external address or data bus as they integrate RAM and non-volatile memory on the same chip as the CPU. Using fewer pins, the chip can be placed in a much smaller, cheaper   package. Integrating the memory and other peripherals on a single chip and testing them as a unit increases the cost of that chip, but often results in decreased net cost of the embe embedd dded ed syst system em as a whol whole. e. Even Even if the the cost cost of a CPU CPU that that has integ integra rate ted d  peripherals is slightly more than the cost of a CPU + external peripherals, having fewer chips typically allows a smaller and cheaper circuit board, and reduces the labor required to assemble and test the circuit board. integrated circuit, common A microc microcont ontrol roller ler is a single single integrated commonly ly with with the follow following ing features:          

Central Processing Unit - ranging from small and simple 4-bit processors to complex 32- or 64-bit processors discrete discrete input and output bits, allowing control or detection detection of the logic state of an individual package pin serial input/output such as serial ports (UARTs) other serial communications interfaces like I²C, Serial Peripheral Interface and Controller Area Network  for system interconnect peripherals such timers,, even eventt counte counters, rs, PWM PWM gener generato ators, rs, and such as timers watchdog volatile memory (RAM) for data storage ROM, EPROM, EEPROM EEPROM or Flash memory for program and operating  parameter storage clock generator - often an oscillator for a quartz timing crystal, resonator or  RC circuit many include analog-to-digital converters in-circuit programming and debugging support

This integration drastically reduces the number of chips and the amount of wiring and circuit board space that would be needed to produce equivalent systems using separate chips. Furthermore, and on low pin count devices in particular, each pin may interface to several internal peripherals, with the pin function selected by software. This allows a part to be used in a wider variety of applications than if pins had dedicated functions. Microcontrollers have proved to be highly popular in embedded systems since their introduction in the 1970s.

Some Some microc microcont ontrol roller lerss use a Harvar Harvard d archit architect ecture ure:: separa separate te memory memory buses buses for  instructions and data, allowing accesses to take place concurrently. Where a Harvard architecture is used, instruction words for the processor may be a different bit size than the length of internal memory and registers; for example: 12-bit instructions used with 8-bit data registers.

The decision of which peripheral to integrate is often difficult. The microcontroller  vendors often trade operating frequencies and system design flexibility against timeto-m to-mar arke kett requi require reme ments nts from from thei theirr custo custome mers rs and and over overal alll lowe lowerr syst system em cost cost.. Manufacturers have to balance the need to minimize the chip size against additional functionality.

Microcontr Microcontroller oller architectu architectures res vary widely. widely. Some designs designs include include general-pur general-purpose pose microprocessor cores, with one or more ROM, RAM, or I/O functions integrated onto onto the the packa package ge.. Other Other desi designs gns are are purp purpos osee buil builtt for for cont contro roll appl applic icat atio ions ns.. A microcontroller instruction set usually has many instructions intended for bit-wise operations to make control programs more compact. For example, a general purpose  processor might require several instructions to test a bit in a register and branch if the  bit is set, where a microcontroller could have a single instruction that would provide that commonly-required function.

Micr Microc ocont ontro roll ller erss typi typica call lly y do not have have a math math copr coproc oces esso sor, r, so floa floati ting ng poin pointt multiplication and division are carried out using a standard library, or the faster and more compact Horner method.

Programming environments( IDE 8051) . Microcontrollers were originally programmed only in assembly language, but various high high-l -lev evel el prog progra ramm mmin ing g lang langua uage gess are are now now also also in comm common on use use to targ target et microcontrollers. These languages are either designed specially for the purpose, or  vers versio ions ns of gener general al purpo purpose se lang languag uages es such such as the the C prog progra ramm mmin ing g langu languag age. e. Compilers for general purpose languages will typically have some restrictions as well as enhancements enhancements to better better support support the unique characteristi characteristics cs of microcontr microcontroller ollers. s. Some Some micr microc ocont ontro roll ller erss have have envir environ onme ment ntss to aid aid devel develop opin ing g cert certai ain n types types of  applications. Microcontroller vendors often make tools freely available to make it easier to adopt their hardware. IDE 8051 is the programming software provided by Dr.Mohammad Ali Mazidi for the programming of microcontroller 8051.

Many microcontrollers are so quirky that they effectively require their own nonstandard dialects of C, such as SDCC for the 8051, which prevent using standard tools tools (such (such as code code librar libraries ies or static static analysis analysis tools) tools) even even for code unrela unrelated ted to hardware features. Interpreters are often used to hide such low level quirks.

Interpreter firmware is also available for some microcontrollers. For example, BASIC on the early microcontrollers Intel 8052[3] and Zilog Z8 as well as some modern devices. Typically these interpreters support interactive programming.

Simulators Simulators are available available for some microcontr microcontrollers ollers,, such as in Microchip's Microchip's MPLAB envi enviro ronm nment ent.. Thes Thesee allo allow w a deve develo lope perr to analy analyse se what what the the beha behavi viou ourr of the the microcontroller and their program should be if they were using the actual part. A simulator will show the internal processor state and also that of the outputs, as well as allowing input signals to be generated. While on the one hand most simulators will be limited from being unable to simulate much other hardware in a system, they can exercise conditions that may otherwise be hard to reproduce at will in the physical implementation, and can be the quickest way to debug and analyse problems.

Recent microcontroll microcontrollers ers are often integrated integrated with on-chip debug circuitry circuitry that when accessed by an In-circuit emulator via JTAG, allow debugging of the firmware with a debugger.

1 3 2

2 1

5 3

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1. Window Window 1 is the main main window window where where the the program program is is written. written. 2. Window Window 2 shows the output output window, window, which which on the executi execution on of the program program shows the errors occurred, warnings encountered and other similar data. This is selected by  pointing to ‘view’-> ‘output’. 3. Window Window 3 shows the the Registers Registers used used along with with their values. values. For For dynamic dynamic variation variation of  these values reflecting their values in the memory, one needs to ‘Simulate’ which will  be further explained at a later stage. This is selected by pointing to ‘view’-> ‘Registers’. 4. Window Window 4 shows Port Window showing showing the values values acquire acquired d by the ports. ports. This window is also useful when simulating. This is selected by pointing to ‘view’-> ‘Ports’. 5. Window Window 5 shows the the values of import important ant internal internal variable variabless including including Timers, Timers, TMOD, TMOD, IE etc.

Simulation To debug a program, in a more effective way, the option to ‘Simulate’ is provided. On choosing the appropriate windows to be shown (by choosing them from ‘Views’ on the menu bar), option of ‘Simulate’ is selected and further the option of ‘Start Simulator’ Simulator’ is chosen. While the program is running, the dynamic values of the variables are shown in their respective windows step-by-step value-by-value. To go to the next step, click on ‘Simulate’->’Step Into’ or as a shortcut, press F11. The various values stored in the respective variable can than be checked and matched with their expected values for any fault.

Program Microcontroller programs must fit in the available on-chip program memory, since it would be costly costly to provide a system system with external, external, expandable, expandable, memory. Compilers Compilers and assembly language are used to turn high-level language programs into a compact machine code for storage in the microcontroller's memory. Depending on the device, the the progr program am memo memory ry may may be perm perman anent ent,, read read-o -onl nly y memo memory ry that that can can only only be   progr programm ammed ed at the factor factory, y, or progra program m memory memory may be field field-al -alter terabl ablee flash flash or  erasable read-only memory. ORG 0000H MOV A,P1 MANIK: CJNE A,#11110001B,HM1 AJMP CLAWOPEN HM1: CJNE A,#11110010B,HM2 AJMP FW HM2: CJNE A,#11110011B,HM3 AJMP CLAWCLOSE HM3: CJNE A,#11110100B,HM4 AJMP LT HM4: CJNE A,#11110101B,HM5 AJMP STOP HM5: CJNE A,#11110110B,HM6 AJMP RT HM6: CJNE A,#11111001B,HM7 AJMP BASERT HM7: CJNE A,#11111000B,HM8 AJMP BW HM8: CJNE A,#11110111B,HM9 AJMP BASELT HM9: CJNE A,#11111011B,HM10 AJMP ARMUP HM10: CJNE A,#11111100B,HM11 AJMP ARMDOWN HM11: CJNE A,#11111010B,HM12 AJMP LINE_FOLLOWER  PLC INSTITUTE OF HM12: AJMP MANIK 

ELECTRONICS

www.plcie.com email id – [email protected]  ph no.: 9312256415/9899893080 CLAWOPEN: CLR P2.0 AJMP MANIK  CLAWCLOSE: CLR P2.1 AJMP MANIK  FW: CLR P0.0

CLR P0.3 AJMP MANIK  BW: CLR P0.1 CLR P0.2 AJMP MANIK  RT: CLR P0.2 CLR P0.0 AJMP MANIK  LT: CLR P0.1 CLR P0.3 AJMP MANIK  BASERT: CLR P0.5 AJMP MANIK  BASELT: CLR P0.4 AJMP MANIK  ARMUP: CLR P0.6 AJMP MANIK  ARMDOWN: CLR P0.7 AJMP MANIK  STOP: MOV P0,#11111111B SETB P2.0 SETB P2.1 AJMP MANIK 

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The Sensor :-:-

These can be compared compared with “The sense sense organs “ of human being. being. These sensor are are responsibl responsiblee for the artifi artificial cial intelli intelligence gence of Robot Robot ,”The control controller ler can’t can’t perform perform intelligent task without ‘The Sensor’. Sensors are nothing but they are measuring instru instrumen mentt who provid providee the valuabl valuablee data data (i.e. (i.e. Positi Position on , veloci velocity ty,, force, force, torque torque,,  proximity, temperature etc.) to the Microcontroller or PC

Examples Of Sensors:       

Reed Switches Load Cell Microswitches Proximity Sensor ( Metal, IR ) LDR( Light Emitting Diode) Ultrasonic Sensor  Camera Thermister 

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Electronic Compass Microphone Chemical Sensor 

I/P I/P Dev Device icess:-

The input signals are given through the mobile phone. The mobile phone has Dual-Tone Multi-Frequency (DTMF) (DTMF) technology which is perhaps the most widely known method of Multi Multi Freque Frequency ncy Shift Shift Keying Keying (MSFK) (MSFK) data data transm transmiss ission ion techni technique. que. DTMF DTMF was developed by Bell Labs to be used in the telephone system. Most telephones today uses DTMF dialing dialing (or “tone” dialing). dialing).The The mobile phone has encoder and decoder circuit circuit inbuilt. DTMF Decoder is a very easy to use program to decode DTMF dial tones found on telephone lines with touch tone phones. DTMF Decoder is also used for receiving data transmissions over the air in amateur radio frequency bands. The following are the frequencies used for the DTMF (dual-tone, multi-frequency) system, which is also referred to as tone dialling. The signal is encoded as a pair of  sinusoidal (sine wave) tones from the table below which are mixed with each other. DTMF is used by most PSTN (public switched telephone networks) systems for number  dialling, and is also used for voice-response systems such as telephone banking and sometimes over private radio networks to provide signalling and transferring of small amounts of data.

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Block diagram of DTMF :-

 Frequency

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Table

:Circuit diagram of DTMF decoder :-

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O/P Devi Device cess:The output signal generated generated by the microcontr microcontroller oller drives the DC motor through through H-Bridge .Thus the required motion is obtained. Here we have used seven DC motor four of them are used for moving the plateform & rest of three are used to move manipulator in all the three three axis ( i.e x-axis,y-axis & z-axis).

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Powe Powerr Supp Su pply ly:It provides the electric energy to the system. Li-ion battery, pencil cell, hydrade ion battery battery etc. etc. are some some of the power power suppli supplies es availa available ble for energizin energizing g the electronic circuit electrically.

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Why Robots?

ROBOT

Robo Robott is inde indefa fati tiga gabl blee to wort wort very very accurately without any protest. . Robot can manufacture very accurately with help of sensors.

HUMAN

Huma Human n being being becom becomee tire tired d afte after  r  working for some time Continuously Human Human being being estima estimates tes & in other  other  word inaccurately.

Robo Robott exec execut utes es the the comm comman and d give given n faithfully.

Human being occasionall occasionally y protest protest when asked to do a certain task & invari invariabl ably y asks asks questi question on such such as-“ as-“ Why should not a different job be assigned to me”?

Robot can wort for all all week days days & no need for holiday at the week ends.

Huma Human n being being work workss only only for for hours need a holiday at the week 

Robot need timely maintenance

Huma Human n bein being g need needss incr increm ement ent in salary increment after six months or  year 

In case of accident during working Hour Hourss it need needss to be repl replac acem emen entt of  faulty part in few hours.

Human being demands for medical treatment & rest sometimes for pay without work. It may for few weeks,month or year.

 Nothing like that a retirement. It is working well then its ok otherwise; the whole mechanism is to be

Human being needs retirement after  55 or 60 years & will be getting half  of the amount of the salary till death.

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APPLICATION OF ROBOTS    

PICK & PLACE OPERATION. POINT TO POINT OPERATION. CONTINOUS PATH OPERATION. ASSEMBLY OPERATION.

ADVANTAGES OF ROBOT      

REDUCED COST OF PRODUCTION. INCREASED PRODUCTION. IMPROVED PRODUCTION QUALITY. IT CAN WORK IN HAZARDOUS & HOSTILE ENVIRONMENT. IMPROVED MGT. CONTROL. IT MEET MEETS S OCC OCCUPAT UPATIION SAFET AFETY Y & HEAL HEALTH TH ADMI ADMINI NIS STRAT TRATIION STANDARDS.