10-09-2016, 11:02 AM
1454334104-AndroidcontrolledRoboticARM.docx (Size: 213.31 KB / Downloads: 5)
Robotic arm has become popular in the world of robotics. The essential part of the robotic arm is a programmable microcontroller based brick capable of driving basically three stepper motors design to form an anthropomorphic structure. The first design was for experimental use on a model of human-size industrial robot arm called PUMA 560 used to explore issues in versatile object handling and compliance control in grasp actions (Bejczy & Jau, 1986). This paper explains the method of interfacing the robotic arm stepper motors with the programmed PIC-based micro-controller which are used to control the robot operations. We have employed the assembly language in programming our microcontroller. A sample robot which can move (by magnetizing) and release small objects (by demagnetizing) is built for demonstrating the method explained. Moreover this robot is controlled using an Android phone through Bluetooth.
Introduction
Background
Taking a look back at the history of robot development, a special kind of human-size industrial robotic arm called Programmable Universal Machine for Assembly (PUMA) came into existence. This type of robot is often termed anthropomorphic because of the similarities between its structure and the human arm. The individual joints are named after their human-arm counterparts. “It is worth noting that in our work, the hand is magnetic and not a generalized manipulator. In the proper sense of the word, manipulation is the function of the arm. The function of the arm is to position and orient the hand, act as a mechanical connection and power and sensing transmission link between the hand and the main body of the person. The full functional meaning of the arm rests in the hand” (Bejczy & Jau, 1986). Our work provides important elements that are required to build a simple robotic arm of very high quality. As stated earlier we are making use of the PIC Microcontroller.
Objective
The primary objective is to make the Robotic arm, which comprises of three stepper motors, to interface with the PIC Microcontroller which is controlled by an Android phone. It provides more interfaces to the outside world and has larger memory to store many programs.
Embedded System
Embedded System is any electronic equipment with built in intelligence and dedicated software. All embedded systems use either a microprocessor or a micro controller. The application of these controllers makes user friendly cheaper solutions and enables to add features otherwise impossible to add features otherwise impossible to provide by other means.
Embedded devices can be defined as any device with a microprocessor or a micro controller embedded in it focused that has a relatively focused functionality. The software for the embedded system is called firm ware. The firm ware is written in Assembly language for time or resource critical operation or using higher-level languages like C or Embedded C. The software will be simultaneously micro code simulation for the largest processor. An embedded system needs memory for two purposes: to store its program and to stores its data. Unlike a desktop system, in which programs and data are stored in the same memory, embedded system use different memories for each of the two different purposes. Because the typical embedded system does not have a hard disk drive from which to load its program, the program must be stored in a memory, even when power is turned off. The embedded system needs special kinds of memory that will remember the program, even with no power. Since they are supported to perform only specific task, these programs are stored in Read Only Memories (ROMs). More over they may need know or minimal inputs from the user, hence the user interface like monitor, mouse and large key board etc. may be absent. Embedded systems are also known as Real time systems since they respond to an input or event and produce the result with guarantee time period. This time period can be a few micro seconds to days or months.
BLUETOOTH
BlueLINK is a compact Bluetooth Module ( 5V Serial TTL). The module is built with Voltage regulator and 3V3 to 5V level converter required to interface with 5V Micros. It is only having 5pins (Standard 2.54mm bergstrip) VCC,GND,TX,RX and RESET. The module is factory configured in Transparent Mode. So there is no command required for normal operation. The BlueLINK is a Drop-in replacement for wired serial connections, transparent usage. You can use it simply for serial port replacement to establish connection between MCU and GPS, PC to your embedded project / Robot etc. Any serial stream from 9600 to 115200 bps can be passed seamlessly from your PC/PDA/MOBILE to your target board!