TABLE OF CONTENTS

I. II. III. IV. S.no. ! Intro"uction 1.1 1.2 1.3 1.4 1.5 1.6 # 2.1 2.2 2.3 2.4 2.5 ( 3.1 3.2 3.3 3.4 3.5 3.6 * 4.1 4.2 ) 5.1 Goals and Objectives System Context Working principal Schematic diagram Technology and Tools Used in the Project Component list Technolog$ % Tools &escri tion ATMEL 89s52 !ig"ee Mo#$le Top%ie& sim$lator 'rogisp 1(2 )t*er Tools Com onent &escri tion L293+ ,C MA- 232 .tepper motor +'+T .&itc*/"$tton .'.T s&itc*/0$tton )t*er #e%ices +ser Interaction 1ser 'ro2iles .pecial $sage consi#erations Functional An" &ata &escri tion .3stem Arc*itect$re Abstract Preface List of figures List of tables Page no. ! 1 2 3 8 9 9 !' 1 1 12 13 13 !) 15 16 1( 19 19 2 ## 22 22 #( 23

Name of the Cha ter

5.2 5.3 5.4 5.5 , (.1 (.2 (.3 (.4 . 8.1 8.2 8.3 8.4 1 !' !! 11.1 11.2 !# 12.1 12.2 12.3 12.4 !( 13.1 13.2 13.3 13.4 A

4o"otic Arc*itect$re .$"s3stem )%er%ie& +ata +escription .3stem ,nter2ace +escription Co"ing +se" Subs$stem &escri tion +escription o2 .$"s3stems +escription 2or components Components an# inter2ace #escription Component an# 'rocessing +etail Beha/ioral 0o"el An" &escri tion +escription 2or s3stem "e*a%ior E%ents .tates Control speci2ication PCB La$out Test Plan 2esult 5$t$re en*ancements Concl$sion en"i3 0i"liograp*3 Complete .et 1p 2or t*e 'ro6ect Component Cost List 7lossar3 &ata Sheet !ig"ee mo#$le L293+ ,C ATMEL 89.52 microcontroller 1C8 58 40 ,C

24 26 28 29 (' (! 31 32 35 3( 39 39 39 4 43 44 45 4( 4( 48 49 49 5 51 52 )( 53 59 62 6(

I.

ABST2ACT

T*e &or# robot &as 2irst $se# "3 a C9ec*oslo%akian #ramatist: ;arel Capek: in *is 1921 pla3 <4oss$m=s 1ni%ersal 4o"ots>. T*e Merriam ? We"ster +ictionar3 #e2ines ro"ot as 1. A mac*ine t*at looks an# acts like a *$man "eing. 2. An a$tomatic apparat$s. 3. .omet*ing g$i#e# "3 a$tomatic controls. T*e ro"ot t*at &e *a%e #esigne# is g$i#e# "3 controls t*at take inp$t 2rom a *$man an# per2orm certain actions "ase# on t*ese inp$ts. )$r pro6ect is a 4o"otics pro6ect. 4o"otics is not a p$re Comp$ter Engineering s$"6ect it is a com"ination o2 #i22erent engineering 2iel#s namel3 Mec*anical Engineering Electrical Engineering Electronics Engineering

Comp$ter Engineering

T*ese 2o$r 2iel#s com"ine to 2orm t*e 2iel# o2 Mec*atronics: o2 &*ic* 4o"otics is a part. T*e 2amo$s science 2iction &riter ,saac Asimo% intro#$ce# t*e term 4o"otics. @e #e2ine# it as t*e science o2 ro"ots. 4o"otics is not a %er3 ne& 2iel# as generall3 t*o$g*t o2. 7reat researc* *as "een #one in t*is 2iel#. T*e res$lt can "e seen in t*e 2orm o2 AAsimo>. AAsimo> is a ro"ot #e%elope# "3 @on#a: Bapan. Accor#ing to scientists: t*e ro"ots o2 to#a3 *a%e t*e intelligence eC$al to t*at o2 a cockroac*: &*ic* #oes not seem %er3 "rig*t. 0$t it is "eing sai# t*at in t*e neDt t&ent3 3ears: ro"ots &ill *a%e kno&le#ge eC$al to t*at o2 a rat. T*is s*o&s *o& m$c* researc* is "eing #one in t*is 2iel#. T*e ro"ot t*at &e *a%e ma#e is a comman# an# control ro"ot. T*is ro"ot takes comman#s 2rom t*e $ser in t*e 2orm o2 control signals an# per2orms t*e reC$ire# action. T*e central i#ea "e*in# t*is ro"ot is to pro%i#e a line o2 #e2ence to a "om" #isposal sC$a# against t*e li2e t*reatening risk: 2ace# "3 t*em in t*e e%ent o2 an eDplosion. ,t pro%i#es sC$a# a sa2e #istance to #ispose o22 a "om". T*e main goal o2 t*e pro6ect is to pro%i#e sa2et3 to t*e "om" #isposal sC$a# "3 pro%i#ing an eDtra line o2 #e2ence.

II.

P2EFACE

W*en &e 2irst starte# &orking on t*is pro6ect: &e *a# no eDperience o2 #oing a ro"otics pro6ect. We *a# #one a n$m"er o2 small pro6ects o2 programming: #ata"ases: grap*ics etc. an# *a# taken a co$rse on 4o"otics: "$t &e *a# no practical eDperience o2 an3 kin#. T*ere2ore to complete a pro6ect o2 s$c* *$ge proportions is a 2eat in itsel2: 2or $s. E%er3 s$"s3stem t*at &e #esigne# *a# its o&n pro"lems. +esigning t*e "ase: t*e ro"otic arm an# t*e gripper &ere eas3 "$t t*eir implementations took a lot o2 e22ort. T*e str$ct$re o2 t*e "ase &as eas3 to #esign: "$t &*en it came to t*e part o2 #esigning t*e steering mec*anism: &e 2ace# great pro"lems. We *a# to #o a lot o2 researc*: mainl3 on t*e ,nternet: looking 2or t*e "l$eprints o2 ro"ots alrea#3 #esigne#. .ince o$r "ase is a %e*icle c*assis t3pe "ase: &e e%en &ent to t*e eDtent o2 st$#3ing t*e %e*icle steering mec*anisms. ,n t*e en# a simple #esign &it* a po&er2$l +C motor &as $se# to implement t*e t$rning mec*anism. Anot*er ma6or pro"lem 2ace# "3 $s &as t*e implementation o2 a &ireless link

"et&een t*e control application on a 'C an# t*e ro"ot. ,nitiall3 &e trie# to implement it "3 con%erting t*e #igital #ata 2rom t*e 'C into analog 2orm an# transmitting it $sing a %oice gra#e 5M transmitter. 0$t it &asnEt eas3 an# C$ite impossi"le: as it t$rne# o$t later. We t*en $se# 9ig"ee mo#$le to implement t*is link. We *a%e $se# stepper motors 2or t*e el"o& an# t*e gripper o2 t*e ro"otic arm. 4$nning t*e stepper motor 2rom t*e microcontroller &as not an eas3 task: since stepper motor $nlike a normal +C motor reC$ires its coils to "e energi9e# in t*e rig*t seC$ence 2or correct operation. We $se# a stepper motor #ri%er ,C: &*ic* reC$ire# a p$lse as inp$t. T*ere &ere co$ntless pro"lems #$ring t*e integration o2 t*e s$"s3stems as &ell "$t &e are *app3 an# t*ank2$l t*at &e *a%e "een s$ccess2$l in #ealing &it* t*ese pro"lems an# *a%e gaine# immense eDperience an# learnt a lot 2rom t*is pro6ect.

III.
Fig. no. 1. 2. 3. 4. 5. 6. Name of the figure .3stem conteDt #iagram 0asic "lock #iagram

LIST OF FI4+2ES
Page no. 2 3 3 6:( 8 1

'rincipal o2 9ig"ee mo#$le Mo%ement o2 motors 2or r$nning t*e ro"ot 4ecei%er circ$it o2 0om" +i22$ser 'in con2ig$ration o2 atmel 89s52

(. 8. 9. 1 . 11. 12. 13. 14. 15. 16. 1(. 18. 19. 2 . 21. 22. 23. 24. 25. 26. 2(. 28. 29. 3 . 31. 32. 33. 34. 35. 36. 3(. 38. 39. 4 . 41.

'in con2ig$ration o2 9ig"ee Mo#$lation an# #emo#$lation in 9ig"ee .ignal transmission in 9ig"ee mo#$le 71, %ie& 'in con2ig$ration o2 L293+ MaD232 an# its 'in con2ig$ration Connection 2or maD232 .tepper or .tep Motors ,nner %ie& o2 stepper motor T3pes o2 stepper motor +'+T .&itc*/"$tton .'.T .&itc*/"$tton Cr3stal oscillator (8 5 %oltage reg$lator Fpo&er s$ppl3 to microcontrollerG .e%en segment #ispla3 .3stem arc*itect$re 4o"otic 0ase .tr$ct$re Fc*essisG .tr$ct$re o2 4o"otic Arm .$"s3stem #iagram (8 5 %oltage reg$lator 4elations*ips +etaile# s$"s3stem #iagram .$"s3stem 2lo& #iagram .erial 'ort Connection "et&een application an# microcontroller .tepper motor control circ$it +c motor control circ$it 'in con2ig$ration o2 58 40 .tepper Controller 89s52 Control 'rocessing Wireless transmission s3stem Wireless camera processing .tepper motor control processing +c motor control processing Microcontroller e%ent #iagram .tate +iagram o2 4o"otic 0ase .tate +iagram o2 4o"otic Arm

11 11 12 14 15 16 16 1( 18 18:19 19 19 2 21 21 23 24 25 26 2( 29 31 31 32 33 33 36 3( 3( 38 38 38 4 41 41

42. 43. 44. 45.

.tate +iagram o2 Hi#eo Transmission +igiti9e# signal transmission 'C0 la3o$t o2 recei%er circ$it Complete .et 1p 2or t*e 'ro6ect

42 43 44 5

,H. Table no. Name of the table 1. 2. 3. 4.

L,.T )5 TA0LE. Page no. 15 1( 46 51

'in speci2ications o2 L293+ Holtage le%el o2 MaD 232 Control Ta"le cost o2 components