CONSTRUCTION

MUDIT AGARWAL
Roboticists develop man-made mechanical devices that can move by themselves, whose motion must be modelled, planned, sensed, actuated and controlled, and whose motion behaviour can be influenced by programming. Robots are called intelligent when they succeed in moving in safe interaction with an unstructured environment, while autonomously achieving their specified tasks. A robot contains a movable mechanism, influenced by sensing, planning, actuation and control components. It does not imply that a minimum number of these components must be implemented in software. Here an RF remote controlled robot is implemented with the help of a At89S52 microcontroller . intelligent automation. A single microcontroller can be sufficient to control a small mobile robot, an automatic washer machine or a security system. Any microcontroller contains a memory to store the program to be executed, and a number of input/output lines that can be used to interact with other devices, like reading the state of a sensor or controlling a motor. Some machines and robots will even rely on a multitude of microcontrollers, each one dedicated to a certain task. Most recent microcontrollers are 'In System Programmable', meaning that you can modify the program being executed, without removing the microcontroller from its place. Today, microcontrollers are an indispensable tool for the robotics hobbyist as well as for the engineer. Starting in this field can be a little difficult, because you usually can't understand how everything works inside that integrated circuit, so you have to study the system gradually, a small part at a time, until you can figure out the whole image and understand how the system works. The special features of the 89S52 microcontroller are grouped in the blue box at the bottom of figure 1. It is clear that the CPU (Central Processing Unit) is the heart of the microcontrollers, It is the CPU that will Read the program from the FLASH memory and execute it by interacting with the different peripherals.

Microcontroller
A micro-controller can be compared to a small stand alone computer, it is a very powerful device, which is capable of executing a series of preprogrammed tasks and interacting with other hardware devices. Being packed in a tiny integrated circuit (IC) whose size and weight is usually negligible, it is becoming the perfect controller for robots or any machines requiring some kind of
VCC 40 P1.0 1 39 P0.0

PORT 1

RAM

EEPROM (FLASH)

IC voltage regulators
P0.7 EA ALE PSEN P2.7

P1.7

RST P3.0 10

CPU

P3.7 XTAL1 XTAL2

17

Timers, Counters, Interrupts, Serial Port, SFRs, Watch-dog.

21

P2.0

19 GND 20

Voltage regulators comprise a class of widely used ICs. Regulator IC units contain the circuitry for reference source, comparator amplifier, control device, and overload protection all in a single IC. IC units provide regulation of either a fixed positive voltage, a fixed negative voltage, or an adjustably set voltage. The regulators can be selected for operation with load currents from hundreds of milli amperes to tens of amperes, corresponding to power ratings from milli watts to tens of watts. Here 7805 regulator is used.

PORT 3

Fig.1. Pin Diagram & Features of 8051 core

DETSET ME

Microcontroller Based RF Remote Controller Robot

EM TESTED

EM TES

TED

PORT 0 PORT 2

CONSTRUCTION
Motor Driver
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 DC motors to run forwards and backwards. The term "H-bridge" is derived from the typical graphical representation of such a circuit. An H-bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4 (according to the below right figure) are closed (and S2 and S3 are open) a positive voltage will be applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation of the motor. Using the nomenclature above, the switches S1 and S2 should never be closed at the same time, as this would cause a short circuit on the input voltage source. The same applies to the switches S3 and S4. This condition is known as shoot-through. This H-bridge uses MOSFETs for one main reason - to improve the efficiency of the bridge. When BJT transistors (normal transistors) were used, they had a saturation voltage of approximately 1V across the collector emitter junction when turned on. A power supply of 10V consumes 2V across the two transistor required to control the direction of the motor. 20% of power was eaten up by the transistors. The transistors also would get quite hot. MOSFETs are used here because when they turn on they have an ON resistance called RDS(on). This is the resistance between the Drain and Source when turned on. It is quite easy to buy MOSFETs that have very low RDS(on) ratings of less than 0.1 ohm. At 4 amps, this would mean that the voltage drop would be 0.4V per MOSFET. A MOSFETs having an RDS(on) of 0.04 ohms will improve efficency greatly. Now, when a MOSFET has a low RDS(on) rating, it usually has quite a high current rating typically in the 10s of amps. RF transmitter used is of approximately 433MHZ frequency microcontroller is used to write an d read RF transmitter & receiver. Circuit diagram RF Robot Receiver is shown in fig. 3 & Circuit diagram RF Robot Transmitter is shown in fig. 4. Component Layout RF Robot Transmitter is shown in fig. 5. PCB Layout RF Robot Transmitter is shown in fig. 6. Component Layout RF Robot Receiver is shown in fig. 7. PCB Layout RF Robot Receiver is shown in fig. 8.
sbit buffer=P0^0;sbit rotate=P0^1;sbit D7=P0^7; sbit D6=P0^6;sbit D5=P0^5;sbit D4=P0^4; sbit P10=P1^0; sbit P11=P1^1; sbit P12=P1^2; sbit P13=P1^3; sbit P14=P1^4; sbit P15=P1^5; sbit P16=P1^6; sbit P17=P1^7; sbit P30=P3^0; sbit P31=P3^1; sbit P34=P3^4; sbit P35=P3^5; sbit P36=P3^6; sbit P37=P3^7; sbit P20=P2^0; sbit P21=P2^1; sbit P22=P2^2; sbit P23=P2^3; sbit P24=P2^4; sbit P25=P2^5; sbit P26=P2^6; sbit P27=P2^7; void wait(void); void ready(void); void pickp(unsigned char); void rom(unsigned char *); void got(void); void ram1(unsigned short k); void ram3(unsigned long tt); void ram4(unsigned long tt); void ram5(unsigned long); char write_random_data(char device, unsigned int address,unsigned char byte); char read_random_data(int device, int address); void senddata(char o_byte); char readdata(void); char ack(char device); char nack(void); void DATA1(void); void DATA2(void); void secondGENERATE(void); void firstGENERATE(void);

S2 M S4

S1 S3

Software
#include <reg52.h> #include <string.h>
Fig.2 : Block Diagram of H-Bridge.

CONSTRUCTION

C2 Ic2 XTAL C1

C3 R1 R13 R10

Q7

Q8 R12 R11

Q5 R9

Q6 R8

Q3 R6

Q4 R5

Q1 R3

Q2 R2

18V Battery

Ic1 1 2 3 + C2 + 9V Battery uc

J1 T1 S D G S D G G D S M1 T4 G D T3 T2

J2

J3 M Sup T5 S D G S D G G D S M2 T8 G D S T7 T6 +

Fig. 7: Component Layout of RF Robot Receiver

void second_SCL(void); void first_SCL(void); void Delay_ms(unsigned int); void romstringonlcd0(void); void RFData1(void); void RFData2(void);

void RFData3(void); void RFData4(void); void RFData5(void); void noData(void); unsigned long semaphore(void); void pqrotate1(void);

Fig. 5:Component Layout of RF Robot Transmitter

RFRX

R7

R4

RFTX

Ic1 Ic2

CONSTRUCTION
+5 V DC

+ +5 V DC 31
8 RFRX 7 6 1 2

40 VDD

Ic1 2

1
B1

5 4

+ C3 9 C1
XTAL

1 2 3 15 16 17 21 19 C2 20 Ic2 10 22 23 24 25 26 27 7 8 18

+ B3
Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Output 9 Output 10 Output 11 Output 12

B3 R3

R2

R1

R4 Q2

Q1

+ B3 R5

B3 R6

B1=9V B2=12V B3=18V + B2

13 12 11 10 Q3 Q4 R7

T1 R10 + B3 + B3 R13 T2 R11 R12 B3 + R8 R9 B3 +

M1 Q6 T3 Q7 Q8 Q5

T4 + B2

T5

T6

M2

T7

T8

Fig. 3: Circuit Diagram of RF Robot Receiver

CONSTRUCTION

Fig. 8:PCB Layout of RF Robot Receiver

void pqrotate2(void); void pqrotate3(void); void pqrotate4(void); void flag(void); void dig(void); void deliver(void);

unsigned long total1,total2,total3,product; main() { unsigned char i_byte; unsigned int i; unsigned char as1,as2,as3,as4,as5;

Fig. 6: PCB Layout of RF Robot Transmitter