WIRELESS ROBOT AND

ROBOTIC ARM CONTROL WITH

ACCELEROMETER SENSOR

BY
AMANDEEP SINGH
(REG. No. 11000597)

INTRODUCTION

Automation is the need of today. The

ultimate aim of technology is to reduce
the load of mankind.

To reduce the amount of human effort

required to perform a task is the
objective behind technical development

PROFILE OF THE PROBLEM

DESIGN A ROBOTIC ARM WITH A
MINIMAL NUMBER OF MOTORS TO
PICK AND PLACE OBJECTS WITHOUT
THE USER NEEDING TO PRECISELY
ALIGN THEIR WHEELCHAIR

WHAT IS A ROBOTIC ARM ??

A robot is a mechanical or virtual artificial agent,

usually an electro-mechanical machine that is guided
by a computer program or electronic circuitry.
Arobotic armis a type ofmechanical arm,
usuallyprogrammable, with similar functions to a
humanarm.
The arm may be the sum total of the mechanism or
may be part of a more complexrobot. The links of
such a manipulator are connected by joints allowing
either rotational motion (such as in anarticulated
robot) or translational (linear) displacement

TYPES OF ROBOTIC ARM

Cartesian robot/ Gantry robot: Used forpick

and placework, application of sealant, assembly
operations, handling machine tools and arc
welding. It's a robot whose arm has three
prismatic joints, whose axes are coincident with a
Cartesian coordinator.

Cylindrical robot: Used for assembly operations,

handling at machine tools, spot welding, and
handling at diecasting machines. It's a robot
whose axes form a cylindrical coordinate system.

TYPES OF ROBOTIC ARM

Spherical robot/ Polar robot (such as theUnimate): Used
for handling at machine tools, spot welding, die-casting, fettling
machines, gas welding and arc welding. It's a robot whose axes
form a polar coordinate system.

SCARA robot: Used for pick and place work, application of

sealant, assembly operations and handling machine tools. This
robot features two parallel rotary joints to provide compliance in
a plane.

Parallel robot: One use is a mobile platform handling cockpit

flight simulators. It's a robot whose arms have concurrent
prismatic or rotary joints.

TYPES OF ROBOTIC ARM

Anthropomorphic robot: Similar to the robotic

handLuke Skywalkerreceives at the end ofThe
Empire Strikes Back. It is shaped in a way that
resembles a human hand, i.e. with independent
fingers and thumbs.

Articulated robot: Used for assembly

operations, diecasting, fettling machines, gas
welding, arc welding and spray painting. It's a
robot whose arm has at least three rotary joints.
Fig
6 AXIS Articulated
Robot from KUKA

COMPONENT BRIEFING
Following components are used in the project
which are as given below :

Display unit (LCD)

RF Transmitter and Receiver
Microcontroller 8051
Analog and digital Converter (ADC 0808/09)
Acceleration Sensor
DC gear motor drive using motor driver
(L293D)

LIQUID CRYSTAL
DISPLAY(LCD)

Aliquid-crystal display(LCD) is aflat panel

display,electronic visual display, orvideo
displaythat uses the light modulating properties
ofliquid crystals.
Liquid crystals do not emit light directly.
The main features of this LCD are: 16 X 2 display,
intelligent LCD, used for alphanumeric characters
& based on ASCII codes

PIN DESCRIPTION OF LCD

LCD INTERFACING WITH

MICROCONTROLLER

TRANSRECIEVER

Radio frequency (RF) is a rate of oscillation in the range of about 3 kHz

to 300 GHz, which corresponds to the frequency of radio waves, and
the alternating currents which carry radio signals
Atransceiveris a device comprising both atransmitter and
areceiverwhich are combined and share common circuitry or a single
housing
The objective in the design was to bring digital domain closer to the
antenna, both at the receive and transmit ends usingsoftware defined
radio(SDR). The software-programmabledigital processors used in the
circuits permit conversion between digitalbaseband signals and analog
RF
The objective in the design was to bring digital domain closer to the
antenna, both at the receive and transmit ends usingsoftware defined
radio(SDR). The software-programmabledigital processorsused in the
circuits permit conversion between digitalbasebandsignals and analog
RF.

RADIO TRANSMITTER

In electronics and telecommunications a

transmitter or radio transmitter is an
electronic device which, with the aid of
an antenna, produces radio waves.
When excited by alternating current, the
antenna radiates radio waves.
For Ex- cell phones, wireless computer
networks, Bluetooth enabled devices,
garage door openers, two-way radios in
aircraft, ships, and spacecraft, radar
sets, and navigational beacons

RADIO RECIEVER

A tuned radio frequency receiver (TRF

receiver) is a radio receiver that is
usually composed of several tuned radio
frequency amplifiers followed by circuits
to detect and amplify the audio signal.
It can be difficult to operate because
each stage must be individually tuned to
the station's frequency.
It was replaced by the Super-heterodyne
receiver invented by Edwin Armstrong.

RF TRANSRECIEVER

In radio terminology, a transceiver

means a unit which contains both a
receiver and a transmitter.
An example of a transceiver would be a
walkie-talkie, or a CB radio.
It can be used in 2400-2483.5 MHz
ISM/SRD band systems.
Eg. RKE-two way Remote Keyless Entry,
wireless alarm and security systems

PIN DESCRIPTION

FEATURES OF RF
TRANSRECIEVER

Low power consumption.

Integrated bit synchronizer.
Integrated IF and data filters.
High sensitivity (type -104dBm)
Programmable output power -20dBm~1dBm
Operation temperature range : -40~+85 deg C
Operation voltage: 1.8~3.6 Volts.
Available frequency at : 2.4~2.483 GHz
Digital RSSI

APPLICATIONS OF RF TRANSRECIEVER

2.4 GHz ISM/SRD band systems

Consumer Electronics
Industrial monitoring and control
Wireless alarm and security systems
Home and building automation
AMR Automatic Meter Reading
RKE Two-way Remote Keyless Entry
Wireless Game Controllers/ Audio/
Keyboard/ Mouse

MICROCONTROLLER 8051

In 1981, Intel Corporation introduced an 8-bit

microcontroller called the 8051.
8051 is an 8- bit processor, meaning the CPU can
work on only 8- bit pieces to be processed by the
CPU.
8051 can have a maximum of 64K bytes of on-chip
ROM, many manufacturers put only 4K bytes on the
chip
The 8051 is the original member of the 8051 family.
Intel refers to it as MCS-51.
There are two other members in the 8051 family of
microcontrollers. They are the 8052 and the 8031.

COMPARISON OF
8051FAMILY

HARDWARE FEATURES

40 pin IC
4 Kbytes of Flash
128 Bytes of RAM
32 I/O lines
Two16-Bit Timer/Counters
Two-Level Interrupt Architecture
Full Duplex Serial Port
On Chip Oscillator and Clock Circuitry

SOFTWARE FEATURES

Bit Manipulations
Single Instruction Manipulation
Separate Program And Data Memory
4 Bank Of Temporary Registers
Direct, Indirect, Register and Relative
Addressing

PIN DIAGRAM

CONNECTION OF 8051 WITH RESET

BUTTON

CONNECTION OF POWER SUPPLY WITH

VOLTAGE REGULATOR

ANALOG TO DIGITAL CONVERTER

(ADC0808)

The process of conversion of analog

signal to digital signal is referred to as
analog to digital conversion.
The system used for realizing this
conversion is referred to as an analog-todigital converter (A/D converter or ADC.
The A/D conversion is a quantizing
process where by an analog signal is
represented by equivalent binary states

CONVERSION TECHNIQUES USED BY ADC

A/D converter can be classified into two groups based on

conversion technique.

One technique involves comparing a given analog signal with

the internally generated equivalent signal. This group
includes Successive approximation Register, counter and
flash type converters. It is used for data loggers and
instrumentation

The second technique involves changing an analog signal

into time or frequency and comparing these new parameters
to known values. This group includes Integrator and Voltage
to Frequency Converters. It is used in digital meters, panel
meters and monitoring system

SUCCESIVE APPROXIMATION A/D

CONVERTER
Most popular method of analog to digital conversion.
It has an excellent compromise between accuracy and
speed.
An unknown voltage Vin is compared with a fraction of
reference voltage, Vr.
For n-bit digital output, comparison is made many times
with different fractions of Vr and the value of a particular
bit is set to 1, if Vin is greater than the set fraction of Vr
otherwise 0. It includes three major elements:
1. The D/A converter
2. The Successive Approximation Register
3. The comparator

SUCCESIVE APPROXIMATION A/D

CONVERTER BLOCK DIAGRAM
Key
DAC = Digital-to-Analog converter
EOC = end of conversion
SAR = successive approximation register
S/H = sample and hold circuit
Vin= input voltage
Vref= reference voltage

ALGORITHM OF SAR
The successive approximationAnalog to digital
convertercircuit typically consists of four chief subcircuits:
1. A sample and hold circuit to acquire the inputvoltage(V in).

2. An analog voltage comparator that compares V into the

output of the internalDAC and outputs the result of the
comparison to the successive approximationregister(SAR).
3. A successive approximation register subcircuit designed to
supply an approximate digital code of V into the internal DAC.
4. An internal reference DAC that, for comparison with V,
supplies thecomparatorwith an analog voltage equal to the
digital code output of the SAR in.

WORKING OF SAR

The successive approximation register is initialized so that

themost significant bit(MSB) is equal to adigital1.
This code is fed into the DAC, which then supplies the analog
equivalent of this digital code (V ref/2) into the comparator
circuit for comparison with the sampled input voltage.
If this analog voltage exceeds V inthe comparator causes the
SAR to reset this bit; otherwise, the bit is left a 1.
Then the next bit is set to 1 and the same test is done,
continuing thisbinary searchuntil every bit in the SAR has
been tested.
The resulting code is the digital approximation of the
sampled input voltage and is finally output by the SAR at the
end of the conversion (EOC)

PIN DESCRIPTION OF
ADC0808

ACCELERATION/VIBRATION/TILT
SENSOR 3 AXES

Accelerometer sensor can measure

static (earth gravity) or dynamic
acceleration in all three axes.
Accelerometer sensor measures level of
acceleration where it is mounted this
enable us to measure
acceleration/deceleration of object like
car or robot, or tilt of a platform with
respected to earth axis, or vibration
produced by machines
Accelerometer here used is MMA7361 by

ACCELEROMETER MMA7361 PIN DIAGRAM

FEATURE
Board Supply
Voltage
Operation Current
Operating
Temperature
Zero G output
voltage (X,Y,Z)

Output on Sensitivity
Range 1.5g
Output on Sensitivity
Range 6g

VALUE
+5 V DC

1 ma
-40 to +85 deg
Celsius
1.65V

800mV per g
200mV per g

EXPLANATION
Board has regulator
IC to convert +5V to
3.3V DC since sensor
IC operates on 3.3V
only

Idle output is VDD/2

So 3.3V/2=1.65V
The device can
measure both + and
acceleration. With
no input
acceleration the
output is at mid
supply.
For positive
acceleration the
output will increase
above 1.65V
For negative
acceleration, the

ACCELEROMETER FEATURES AND

APPLICATIONS
Features
Simple to use
Analog output for each axis
+5V operation @1mA current
High Sensitivity (800mV/g @ 1.5g) Selectable Sensitivity (+- 1.5g, +- 6g)
0g detect for free fall detection
Robust design, high shock survivability
Low Cost
Applications
3D Gaming: Tilt and Motion Sensing, Event Recorder
HDD MP3 Player: Freefall Detection
Laptop PC: Freefall Detection, Anti-Theft
Cell Phone: Image Stability, Text Scroll, Motion Dialling, E-Compass
Pedometer: Motion Sensing / PDA: Text Scroll
Navigation and Dead Reckoning: E-Compass Tilt Compensation
Robotics: Motion Sensing

GEAR MOTOR

A gear motor is a type of electrical motor which

uses the magnetism induced by an electrical
current to rotate a rotor that is connected to a
shaft.
The energy transferred from the rotor to the
shaft is then used to power a connected device.
In a gear motor, the energy output is used to
turn a series of gears in an integrated gear train.
There are a number of different types of gear
motors, but the most common are AC
(alternating current) and DC (direct current).

FUNCTIONS OF GEAR
MOTOR

In a gear motor, the magnetic current (which can be

produced by either permanent magnets or
electromagnets) turns gears that are either in a gear
reduction unit or in an integrated gear box.
A second shaft is connected to these gears.
The result is that the gears greatly increase the
amount of torque the motor is capable of producing
while simultaneously slowing down the motor's
output speed.
The motor will not need to draw as much current to
function and will move more slowly, but will provide
greater torque.

USES OF GEAR MOTOR

conveyor-belt drives
home appliances
in handicap and platform lifts
medical and laboratory equipment
machine tools, packaging machinery and
printing presses.
A special type of gear motor, the servo
motor, provides more power in a compact,
precise fashion, and is used when a motor
with a rapid, accurate response is needed

DC GEARED MOTOR DRIVER

1.

2.

To derive the DC geared motor near about 50-100 mA

current is required.
But any I/O pin of any MCU can source/sink a current
of near about 20 mA.
So for its interfacing with microcontrollers a power or
current amplifier circuit is required, known as motor
driver circuits.
Mainly two such driver circuits
ULN2003 and transistor/opto-couplers are often
used.
A motor driver like L293D can be used which is a H
bridge IC to control the direction of motor rotation

FEATURES OF L293D

600ma output current capability per

channel
1.2a peak output current (non repetitive)
per channel
Enable facility
Over temperature protection
Logical 0 input voltage up to 1.5 v
(high noise immunity)
Internal clamp diodes

PIN DIAGRAM OF L293D

WORKING OF L293D
To interface any dc gear motor and control its direction of rotation L293D is
used to derive the motor and to start in the particular direction the command
to L293D is given by the Microcontroller unit.
Two motors can be controlled simultaneously using a single L293D IC.
Pin no.1 & 9 of this IC are ENABLE 1 and ENABLE 2 which is used to enable the
output 1 and output 2.
They are connected to the +VCC (+5V). This IC is operated at +5V provided at
Pin no.16.
One motor can be connected across the output 1 and output 2.
1. When input 1 and input 2 is given a logic 0 and logic 1 by the microcontroller
unit then motor start running in one direction and when the logics on these
pins are reversed the direction of motor will also be reversed.
2. To stop the motor both the input pins should be provided with high logic by
the microcontroller unit.
. Similarly we can connect and control the direction of the 2nd motor by
connecting it across output 3 and output 4 and controlling it through input 3
and input 4. Motor voltage is provided to the Pin no.8 of this IC

DC GEARED MOTOR USING L293D

TRANSMITTER SECTION

TRANSMITTER SECTION

In the transmitter, accelerometer sensor works on the

movement of sensor in the direction of forward ,
backward , left and right .
The signal is generated in the analog form and then fed
to the ADC .
In the Analog to digital convertor , the analog signal is
converted into digital signal as per the input voltage
which send its signal to the Microcontroller unit (MCU) .
The MCU will send the signal to the RF transmitter . On
the transmitter side , MCU is interfaced with LCD(16x2)
which is used for the displaying the message as per the
movement of the accelerometer sensor ,provided power
using battery .

RECIEVER SECTION

RECIEVER SECTION

In the receiver side , the transmitted signal is coming

from the transmitted end is received by the RF
receiver .
The received signal is then fed to the MCU . The LCD
is interfaced with the MCU and displays messages
according to the movement of accelerometer sensor.
The MCU is also interfaced with the two motor
drivers L293D IC which are responsible for the
movement of the wheel and robotic arm .
Battery source is used as power supply in the
receiving end

IMAGE OF PROJECT

FUTURE SCOPE

A Voice Controlled Robotic arm is possible to

implement.
The research is on and it is possible to control
the robotic arm through direct connection with
the nervous system and willbe extremely
beneficial forthe Handicapped. This typeof
arobotic limb can becomethe most
sophisticated of its kind in the world,
recreating virtually every movement of a
natural arm and all of it controlled bybrain
power.

FUTURE SCOPE

Military application with the use of

camera mounted on chasis to detect the
hidden bomb or hidden militants in the
dense or isolated areas.
This concept can be use for the handicap
patients which can be installed in their
wheel chair for their ease

THANKING YOU