WIRELESS CONTROLLER ROBOTIC ARM

(SOFTWARE)
PEREGAS s/o GHANESEN
Bachelor of Technology (Electrical and Electronics)
Department of Engineering and Technology
Faculty 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 computers 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
Freedom
II.
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 software
VI.
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 .

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.
I.
I.

To design and combine a robotic arm with

weight indicator
To construct a wireless communication
system using RF.
To develop a robot that is controlled by
microcontroller using MP lab software.

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 cant 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

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 Intels and Motorolas microcontroller, it has
over hundred instructions.

(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

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.

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.

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.

1.6 WIRELESS CONTROLLED

ROBOT SECTION

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

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 deactivated, 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 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 6: Activity Flow Chart

Figure 8: MP Lab Compiler

1.9 CODING FOR PROJECT

assembler, disassemble and debugger. The first few

attempts of simulating the software showed some
errors.

Coding for Transmitter

Figure 11: PIC Kit 2 Simulation Software

2.1 TOOLS & HARDWARE

Figure 9: Example of programming

Coding for Receiver

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:

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,

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, its 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

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[5]http://physics.ucsd.edu/neuroph
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