Robotic Arm Control Using Pc

8/16/2019 Robotic Arm Control Using Pc

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INTRODUCTION OF ROBOTIC ARM USING PC

The advent of new high-speed technology and the growing computer capacity

provided realistic opportunity for new robot controls and realization of new methods of

control theory. This technical improvement together with the need for high performance

robots created faster, more accurate and more intelligent robots using new robots control

devices, new drives and advanced control algorithms.

This project describes a new economical solution of robot control systems. The

presented robot control system can be used for different sophisticated robot applications.

The control system consists of a PC, a microcontroller that collects data from the PC and

control the robot.

The controlling of the robot is done by sending commands from the PCs Hyper

terminal. Capturing of locations videos can also be done if we connect the wireless

camera, and the same things can be monitored on the PC.


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2. INTRODUCTION TO EMBEDDED SYSTEMS

2.1 EMBEDDED SYSTEM

!n embedded system is a combination of computer hardware and software, either

fi"ed in capability or programmable, that is specifically designed for a particular #ind of

application device. $t is a special-purpose computer system designed to perform one or a

few dedicated functions, sometimes with real-time computing constraints. $t is usually

embedded as part of a complete device including hardware and mechanical parts.

%mbedded systems have become very important today as they control many of

the common devices we use. &ince the embedded system is dedicated to specific tas#s,

design engineers can optimize it, reducing the size and cost of the product, or increasing

the reliability and performance.

!n embedded system is some combination of computer hardware and software,

either fi"ed in capability or programmable, that is specifically designed for a particular #ind of application device. $ndustrial machines, automobiles, medical e'uipment,

cameras, household appliances, airplanes, vending machines, and toys (as well as the

more obvious cellular phone and P)!* are among the myriad possible hosts of an

embedded system. %mbedded systems that are programmable are provided with a

programming interface, and embedded systems programming is a specialized occupation.

+


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2.2 APPLICATIONS OF EMBEDDED SYSTEMS

!ny fast applications which ma#e you believe in your basic survival are just because

of these embedded systems. ur daily life depends on the proper functioning of many

gadgets li#e Television, adio, C) player, Card readers, !ccess Controllers etc. $f we go

in detail, we can use these embedded systems in,

ilitary and !erospace &oftware applications/

The 0yn"&-12 T& for software certification, based on the TC! )-123

standard, assists developers in gaining certification for their mission- and safety-critical

systems.

Communications !pplications/

0ynu" wor#s 4umpstart for Communications pac#age enables %s to rapidly

develop mission-critical communications e'uipment, with pre-integrated, state-of-the-art,

data networ#ing and porting software components5including source code for easy

customization.

$ndustrial !utomation and Process Control/

)esigners of industrial and process control systems #now from e"perience that

0ynu"6or#s operating systems provide the security and reliability that their industrial

applications re'uire.

7rom $& 899 certification to fault-tolerance, P&$: conformance, secure partitioning

and high availability, we;ve got it all. Ta#e advantage of our +9 years of e"perience.


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3. AT89S52 MICROCONTROLLERS

3.1 INTRODUCTION

The !T28&=+ is a low-power, high-performance C& 2-bit microcontroller with 2>

bytes of in-system programmable 7lash memory. The device is manufactured using

!tmel?s high-density nonvolatile memory technology and is compatible with the $ndus-

try-standard 29C= instruction set and pin out. The on-chip 7lash allows the program

memory to be reprogrammed in-system or by a conventional nonvolatile memory pro-

grammer. 3y combining a versatile 2-bit CP@ with in-system programmable 7lash on a

monolithic chip, the !tmel !T28&=+ is a powerful microcontroller which provides a

highly-fle"ible and cost-effective solution to many embedded control applications. The

!T28&=+ provides the following standard features/ 2> bytes of 7lash, +=A bytes of !,


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3.3 BLOC! DIAGRAM

7$H@%


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3." PIN DIAGRAM

7$H@%


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PORT *) Port 9 is an 2-bit open drain bidirectional $B port. !s an output

port, each pin can sin# eight TT0 inputs. 6hen s are written to port 9 pins, the pins can be

used as high-impedance input.

PORT 1/ Port is an 2-bit bidirectional $B port with internal pull-ups. The

Port output buffers can sin#Bsource four TT0 inputs.

PORT 2/ Port + uses strong internal pull-ups when emitting s. $t emits the

high-order address byte during fetches from e"ternal program memory and during accesses to

e"ternal data memory that use A-bit addresses.

PORT 3) Port < receives some control signals for 7lash programming and

verification

RST) eset input. ! high on this pin for two machine cycles while the

oscillator is running resets the device. This pin drives high for 82 oscillator periods after the

6atchdog times out.

ALE+PROG) !ddress 0atch %nable (!0%* is an output pulse for latching the

low byte of the address during accesses to e"ternal memory. This pin is also the program

pulse input (P* during 7lash programming.

PSEN) Program &tore %nable (P&%I* is the read strobe to e"ternal program

memory. 6hen the !T28&=+ is e"ecuting code from e"ternal program memory, P&%I is

activated twice each machine cycle, e"cept that two P&%I activations are s#ipped during

each access to e"ternal data memory.

EA+(PP) %"ternal !ccess %nable. %! must be strapped to I) in order to

enable the device to fetch code from e"ternal program memory locations starting at

9999H up to 7777H.

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,TAL1) $nput to the inverting oscillator amplifier and input to the internal cloc#

operating circuit.

,TAL2) utput from the inverting oscillator amplifier.

-at%/'0 T#er O$et#e E$a4e/ 6#t Reet'ut7

The 6)T is intended as a recovery method in situations where the CP@ may be

subjected to software upsets. The 6)T consists of a F-bit counter and the 6atchdog

Timer eset (6)T&T* &7. The 6)T is defaulted to disable from e"iting reset. To

enable the 6)T, a user must write 9%H and 9%H in se'uence to the 6)T&T register

(&7 location 9!AH*.

U#$0 te -DT)

To enable the 6)T, a user must write 9%H and 9%H in se'uence to the 6)T&T

register (&7 location 9!AH*. 6hen the 6)T is enabled, the user needs to service it by

writing 9%H and 9%H to 6)T&T to avoid a 6)T overflow.

-DT /ur#$0 P'6er/'6$ a$/ I/e)

$n Power-down mode the oscillator stops, which means the 6)T also stops. 6hile in

Power-down mode, the user does not need to service the 6)T. There are two methods of

e"iting Power-down mode/ by a hardware reset or via a level-activated e"ternal interrupt

which is enabled prior to entering Power-down mode.

UART) The @!T in the !T28&=+ operates the same way as the @!T in the

!T28&=+ and !T28C=+.

T#er * a$/ 1/ Timer 9 and Timer in the !T28&=+ operate the same way as

Timer 9 and Timer in the !T28&=+ and !T28C=+.

T#er 2) Timer + is a A-bit TimerBCounter that can operate as either a timer or an

event counter. The type of operation is selected by bit CBT+ in the &7 T+CI.

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Ser#a Pr'0ra#$0 A0'r#t) To program and verify the !T28&=+ in the

serial programming mode, the following se'uence is recommended/ . Power-up

se'uence/ a. !pply power between GCC and I) pins. !t the end of a programming

session, &T can be set low to commence normal device operation .

Pr'0ra (er#) $f loc# bits 03 and 03+ have not been programmed, the

programmed code data can be read bac# via the address and data lines for verification.

Pr'0ra#$0 te Fa : Parae M'/e/ The !T28&=+ is shipped with

the on-chip 7lash memory array ready to be programmed. The programming interface

needs a high-voltage (+-volt* program enable signal and is compatible with conventional

third-party 7lash or %P programmers. The !T28&=+ code memory array is

programmed byte-by-byte.

C#& Erae) $n the parallel programming mode, a chip erase operation is initiated by

using the proper combination of control signals and by pulsing !0%BP low for

duration of +99 ns - =99 ns. $n the serial programming mode, a chip erase operation is

initiated by issuing the Chip %rase instruction. Programming the 7lash E &erial ode the

Code memory array can be programmed using the serial $&P interface while &T is

pulled to GCC.

8


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". RS232PROTOCOL; MA,232; MOTOR

".1 RS232 er#a &'rt7) &-+


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5. -OR!ING FLO- OF T

SC


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5.3 S%eat#% D#a0ra >


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5." CIRCUIT FEATURES

3rief description of operation/ Hives out well regulated M=G output, output current

capability of 99 m!Circuit protection/ 3uilt-in overheating protection shuts down output when

regulator $C gets too hot

Circuit comple"ity/ Gery simple and easy to build

Circuit performance/ Gery stable M=G output voltage, reliable operation

!vailability of components/ %asy to get, uses only very common basic components

!pplications/ Part of electronics devices, small laboratory power supply

Power supply voltage/ @nregulated )C 2-2G power supply

Power supply current/ Ieeded output current M = m!

Component costs/ 7ew dollars for the electronics components M the input

transformer cost

5.5 BLOC! DIAGRAM

7$H@% =.<


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5.? SC


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7$H@% =.F

?. SOURCE CODE

N include O29=.h

void &erial$nit(void*

Q

T) R 9"+9J

TH R 9"fdJ

&CI R 9"=9J

T R J

S

void serial9(* interrupt F

Q

if($ RR *

Q

"Ch R &3@7J

$ R 9J

=


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S

S

void main(void*

Q

unsigned int i R 9,

j R 9,

uc!ddrCounter R 9J

while(*

Q

if("chRR;;*

Q

BB I%C> G%%IT C0C>6$&%

P+ R 9"9


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for(j R 9J j O J jMM*

for(i R 9J i O 99J iMM*J

P+ R 9"9AJ

for(j R 9J j OJ jMM*


S

if("chRR;+;*

Q

BB I%C> G%%IT !IT$ C0C>6$&%

P+ R 9"98J

for(j R 9J j OJ jMM*


P+ R 9"9


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for(j R 9J j O J jMM*


S

if("chRR;6$&%

P+ R 9"


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S

@. !EIL SOFT-ARE

. Clic# on the >eil vision $con on )es#top.

+. The following fig will appear


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=. &ave the Project by typing suitable project name with no e"tension in u r own

folder sited in either C/U or )/U

A. Then Clic# on save button above.

1. &elect the component for u r project. $.e. PhilipsVV

2. Clic# on the M &ymbol beside of Philips.

8. &elect !T28&=+ as shown below

+


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9. Then Clic# on W>X

. The 7ollowing fig will appear

+. Then Clic# either K%& or IVVVmostly WIX.


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=. Clic# on the file option from menu bar and select WnewX.

A. The ne"t screen will be as shown in ne"t page, and just ma"imize it by double

clic#ing on its blue boarder.

1. Iow start writing program in either in WCX or W!&X.

2. 7or a program written in !ssembly, then save it with e"tension W. asmX and

for WCX based program save it with e"tension W .CX

8. Iow right clic# on &ource group and clic# on W!dd files to roup &ourceX

+9.

+


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+. Iow you will get another window, on which by default WCX files will appear.

++. Iow select as per your file e"tension given while saving the file

+X

+F


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+2. Iow Clic# on the Peripherals from menu bar, and chec# your re'uired port as

shown in fig below

+8. )rag the port a side and clic# in the program file.


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8. RESULT

INPUT) !ny #eyword from PC (personal Computer*

OUTPUT) The motors will rotate left and then with another #eyword it will rotateright.

+A


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9. CONCLUSION

The project W3T ! CIT0 @&$I PCX has been successfully

designed and tested.

$t has been developed by integrating features of all the hardware components

used. Presence of every module has been reasoned out and placed carefully thus

contributing to the best wor#ing of the unit.

&econdly, using highly advanced $C?s and with the help of growing technology

the project has been successfully implemented.

+1


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1*. BIBLIOGRAPenneth 4.!yala

7undamentals of icro processors and icro computers

-3.am

icro processor !rchitecture, Programming

Y !pplications

-amesh &.aon#ar

%lectronic Components

-).G.Prasad

6ireless Communications - Theodore &. appaport

obile Tele Communications- 6illiam C.K. 0ee

Reere$%e '$ te -e4)

www.national.comwww.n"p.com

www.29=+.com

+2

http://www.national.com/http://www.nxp.com/http://www.8052.com/http://www.national.com/http://www.nxp.com/http://www.8052.com/


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Robotic Arm Control Using Pc

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