WIRELESS ROBOTIC ARM

SHAZA FAZIRA EDORA BINTI SHARUIDDIN

This Report Is Submitted In Partial Fulfillment of Requirements for the Bachelor

Degree of Electronic Engineering (Telecommunication Electronic)

Faculty of Electronic and Computer Engineering

Universiti Teknikal Malaysia Melaka

JUNE 2015

ii

UNIVERSTI TEKNIKAL MALAYSIA MELAKA

FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN

PROJEK SARJANA MUDA II

Tajuk Projek : WIRELESS ROBOTIC ARM

Sesi Pengajian : 1 4 / 1 5

Saya SHAZA FAZIRA EDORA BINTI SHARUIDDIN mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-

syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi

pengajian tinggi.

4. Sila tandakan ( √ ) :

SULIT*

*(Mengandungi maklumat yang berdarjah keselamatan atau

kepentingan Malaysia seperti yang termaktub di dalam AKTA

RAHSIA RASMI 1972)

TERHAD**

**(Mengandungi maklumat terhad yang telah ditentukan oleh

organisasi/badan di mana penyelidikan dijalankan)

TIDAK TERHAD

Disahkan oleh:

__________________________ ___________________________________

SHAZA FAZIRA EDORA BINTI SHARUIDDIN

Tarikh: ……………………………..

(COP DAN TANDATANGAN PENYELIA)

Tarikh: ……………………………….

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DECLARATION

“I hereby declare that this report is the result of my own work except for quotes as cited

in the references”.

Signature : .................................................

Name : SHAZA FAZIRA EDORA BINTI SHARUIDDIN

Date : …………………………………..

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“I hereby declare that I have read this thesis and in my opinion this thesis is sufficient in

terms of scope and quality for the award of the degree of bachelor of Electronic

Engineering (Telecommunication Electronic) ˮ

Signature : .................................................

Supervisor‟s Name : DR. KHAIRUDDIN BIN OSMAN

Date : …………………………………..

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Special thanks to my family, project supervisor and friends

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ACKNOWLEDGEMENT

I would like to express my deepest gratitude to the All Mighty for His goodness

and grace that sustained my performance level at the crucial times of completing this

Final Year Project entitled Wireless Robotic Arm.

Besides that, I would like to extend my appreciation to those who contributed

time, concern and efforts to lend a helping hand thus allow me to gain valuable

knowledge. On top of that, I would like to reserve a special thanks to my supervisor, Mr.

Khairuddin bin Osman for his guidance and excellence in mentoring. All his comments

and constructive criticism played a pivotal role throughout my project development.

Next, I wish to thank the countless individuals who had contributed their

constant views and evaluations in accessing my progress at all time. Finally, I would

also like to express my endless appreciations to my parents for their valuable support

and motivations. Last but not least, I wish to thanks my friends who had provided plenty

possible to complete a project of this magnitude without their support.

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ABSTRACT

In recent year, with the increase usage of wireless application, the demand for a

system that could easily connect devices for transfer of data over a long distance without

cables grew stronger. This paper presents the development of a wireless robotic arm. A

wireless robot that functional to do pick and place operation and be controlled by

Personal Computer. Visual Basic programming as an interface between robot and

computer and Arduino UNO as a microcontroller of the robot that consist of 4 Degree of

Freedom (D.O.F). For the wireless part, Zigbee modules will be used for transmitter part

and receiver part. All the movements will calibrate to ensure that the transmission of

data is correct. Two Zigbee modules are connected to single node using star topology.

After Zigbee module received the data from transmitter, the signal will send to the

Arduino microcontroller. This microcontroller will be stimulated the signal and send to

the robot. Finally, robot will be doing the desired task according to input instructions.

These robots can used in many fields of applications including office, military tasks,

hospital operations, dangerous environment and agriculture.

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ABSTRAK

Pada tahun kebelakangan ini, dengan meningkatnya penggunaan aplikasi

wayarles, permintaan untuk sistem yang mudah boleh menyambung peranti untuk

pemindahan data melalui jarak jauh tanpa kabel bertambah kuat. Kertas kerja ini

membentangkan pembangunan lengan robot tanpa wayar. A robot tanpa wayar yang

berfungsi untuk tidak memilih dan operasi tempat dan dikawal oleh komputer peribadi.

Pengaturcaraan Visual Basic sebagai antara muka di antara robot dan komputer dan

Arduino UNO sebagai pengawal mikro robot yang terdiri daripada 4 Ijazah Kebebasan

(DOF). Untuk sebahagian wayarles, modul ZigBee akan digunakan untuk bahagian

pemancar dan bahagian penerima. Semua pergerakan akan menentukurkan untuk

memastikan bahawa penghantaran data adalah betul. Dua modul ZigBee disambungkan

kepada nod tunggal menggunakan topologi bintang. Selepas modul ZigBee menerima

data dari pemancar, isyarat akan dihantar ke mikropengawal Arduino. Pengawal mikro

ini akan merangsang isyarat dan hantar ke robot. Akhir sekali, robot akan melakukan

tugas yang dikehendaki mengikut arahan input. Robot ini boleh digunakan dalam

banyak bidang aplikasi termasuk pejabat, tugas ketenteraan, operasi hospital,

persekitaran berbahaya dan pertanian.

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TABLE OF CONTENT

CHAPTER TITLE PAGE

PROJECT’S TITLE

REPORT STATUS APPROVAL FORM

DECLARATION

SUPERVISOR’S DECLARATION

DEDICATION

ACKNOWLEDGEMENT

iii

iv

v

vi

ABSTRACT

ABSTRAK

vii

viii

TABLE OF CONTENT ix

LIST OF TABLE xiii

LIST OF FIGURE

LIST OF APPENDIX

LIST OF ABBREVIATIONS

xiv

xvii

x

CHAPTER 1 INTRODUCTION

1

1.1 Background

1.2 Problem statement

1

3

1.3 Objective 3

1.4 Scope 4

1.5 Thesis Structure 5

x

CHAPTER 2 LITERATURE REVIEW

6

2.1 Literature Review 6

2.2 Introduction of Zigbee

2.2.1 Comparing Zigbee with other wireless

technologies

2.2.2 Different type of antenna of Zigbee

7

8

8

2.3 Zigbee topologies

2.3.1 Star topology

2.3.2 Mesh topology

2.3.3 Cluster Tree Topology

9

10

10

11

2.4 Comparing the specification of the Xbee and

Xbee – PRO Module

2.5 Comparing the specification of the Xbee–PRO

Series 1 and Xbee–PRO Series 2

Module

2.6 Serial Communication

2.7 Serial Data

2.8 Microcontroller

2.8.1 Introduction of Arduino

2.8.2 Arduino IDE

2.8.3 Configuration & Test Utility Software

2.8.4 Microsoft Visual Basic 2010 Express

12

14

16

17

18

19

20

21

22

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CHAPTER 3 METHODOLOGY

23

3.1 Overview 23

3.2 Project Planning

3.3 Overall Project

24

24

3.4 Project Overview

3.5 Operation details

3.6 Recovering Xbee Pro Series 1

3.6.1 XBee Explorer USB

3.6.2 Plug in Xbee – PRO S1

3.6.3 Starting with X – CTU

3.6.4 Quick and Easy Test

3.6.5 Configuration Networks

3.6.6 Radio Configuration

3.7 Xbee Starter Kit (SKXBee)

3.7.1 System Overview

3.7.2 Layout of SKXBee

3.7.2.1 Specification of features of

SKXBee

2.7.3 Interface SKXBee with Computer

3.8 XBee Shield

3.8.1 Specification and Limitation

3.8.2 Board Layout

3.9 Arduino Uno

3.9.1 Power

3.9.2 Arduino Platform

3.9.3 Interface between main board and computer

3.9.4 Introduction Arduino IDE

3.10 Visual Basic Implementation

25

27

28

28

29

29

31

32

34

35

36

36

38

39

42

42

43

45

46

47

48

52

55

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CHAPTER 4 RESULT AND DISCUSSION

56

4.1 Overview

4.2 Visual Basic Outcome

4.2.1 Description of each element in VB interface

4.3 Wireless Robotic Arm Outcome

4.3.1 Description movement of designed product

4.4 XBee PRO S1 Signal Performance

56

57

59

61

62

64

CHAPTER 5

CONCLUSION AND RECOMMENDATION

5.1 Conclusion

5.2 Recommendation

65

65

67

REFERENCES

APPENDIX A

APPENDIX B

68

72

80

xiii

LIST OF TABLE

NO

TITLE

PAGE

2.1

2.2

Wireless technologies comparative table

XBee and Xbee – PRO Module comparative table

8

13

2.3 XBee – PRO Series 1 and XBee PRO Series 2 Module

comparative table

15

2.4

3.1

3.2

3.3

3.4

3.5

3.6

4.1

4.2

4.3

Arduino Uno and Arduino Mega 2560 comparative table

Setting values the ID, DH, DL and MY values for a pair of

XBee

Specification layout of SKXBee

Specification of features SKXBee

Specification and Limitation

Jumper Selections

Features of the Arduino Uno

Description of output from Visual Basic interface

Description of each component on designed product

Xbee PRO S1 signal performance

19

34

37

38

42

44

45

60

62

64

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LIST OF FIGURE

NO

TITLE

PAGE

2.1 Different type of antenna for Zigbee 9

2.2 Zigbee star topology 10

2.3 Zigbee mesh topology 11

2.4

2.5

Zigbee cluster tree topology

System Data Flow Diagram in a UART

11

16

2.6 UART data packet 17

2.7 Arduino Uno Software 20

2.8 Configuration & Test Utility Software ( X – CTU ) 21

2.9 Microsoft Visual Basic 2010 Express 22

3.1 Flow chart of whole project 25

3.2 Overall process of the wireless system of robotic arm 26

3.3 Robot Arm Model 26

3.4 Block Diagram wireless system of robotic arm 27

3.5 XBee Explorer USB 28

3.6 Correct way Plug in Xbee – PRO S1 29

3.7 Initialize X – CTU 29

3.8 Add a radio module 30

3.9 Configuration Xbee 30

3.10 Configuration settings of Zigbee 31

3.11 Switch to consoles 32

3.12 Configuring Networks 33

3.13 XBee 1‟s configuration tab after writing the changes 35

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3.14 System overview for SKXbee 36

3.15 Layout of SKXbee 36

3.16 Connect USB cable 39

3.17 PC Settings 40

3.18 Syntax command 40

3.19 Destinations Address 41

3.20 Board layout XBee Shield 43

3.21 Arduino Uno 45

3.22 Arduino platform 47

3.23 Connection USB cable 48

3.24 Found New Hardware 49

3.25 Found New Hardware Wizard 49

3.26 Specific location 49

3.27 Browse Folder (Drivers) 50

3.28 Hardware Installation 50

3.29 Completing Hardware Wizard 51

3.30 Device Manager 51

3.31 Arduino.exe File 52

3.32 Arduino IDE 52

3.33 Tools 53

3.34 Serial Port 53

3.35 Coding for microcontroller Arduino UNO 54

3.36 Visual Basic implementation 55

4.1 windows interface control robot 57

4.2 Com Port 57

4.3 Serial connected 58

4.4 Output Base Turn Left 58

4.5 Label on each element in Visual Basic interface 59

4.6 Label of each component on designed product 61

4.7 Initial position for robotic arm 62

4.8 Robot move to the right and gripped the sample 63

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4.9 Robot move to the left while gripping the sample 63

4.10 Clips open the gripper and released the sample in the box 63

xvii

LIST OF APPENDIX

NO TITLE PAGE

A MICROCONTROLLER SOURCE CODE 72

B VISUAL BASIC SOURCE CODE 80

xviii

LIST OF ABBREVIATIONS

PC - Personal Computer

CLK - Clock

UART - Universal Asynchronous Receiver/Transmitter

USB - Universal Serial Bus

EEPROM - Electricity Erasable Programmable Read-Only

Memory

DC - Direct Current

MHz - Mega hertz

CPU - Central Processing Unit

PWM - Pulse Width Modulation

PCB - Printed Circuit Board

I/O - Input / Output

IDE - Integrated Development Environment

WLAN - Wireless Local Area Network

ADC - Analog Digital Converter

GUI - Graphical User Interface

COM - Component Object Model

RAM - Random Access Memory

ROM - Read Only Memory

RF - Radio Frequency

VB - Visual Basic

IFR - International Federal of Robotics

DOF - Degree of Freedom

CTU - Configuration &Test Utility Software

UHF - Ultra High Frequency

xix

EPROM - Erasable Programmable Read-Only Memory

PROM - Programmable Read-Only Memory

SRAM - Static Random Access Memory

AVR - Atmel Voltage Regulator

TCP/IP - Transmission Control Protocol/Internet Protocol

LED - Light Emitting Diodes

PAN - Personal Area Network

SKXBee - Starter Kit XBee

TTL - Transistor–transistor logic

GND - Ground

RX - Receive Signal

TX - Transmit Signal

RST - Reset Pin XBee

COM - Component Object Model

AT - Command Mode

WR - Write

CT - Command Mode Timeout

RSSI - Received Signal Strength Indicator

ICSP - In-Circuit Serial Programming

VIN - Voltage input

FDTI - Future Technology Devices International

1

CHAPTER 1

INTRODUCTION

1.1 Background

Nowadays, robots are increasingly being integrated into working tasks to replace

humans especially to perform the repetitive task. A robotic arm is a robot manipulator,

usually programmable, with similar functions to a human arm. The links of such a

manipulator are connected by joints allowing either rotational motion (such as in an

articulated robot) or translational (linear) displacement [1]. The links of the manipulator

can be considered to form a kinematic chain. The business end of the kinematic chain of

the manipulator is called the end effectors and it is analogous to the human hand [1].

2

In general, robotics can be divided into two areas, industrial and service robotics.

International Federation of Robotics (IFR) defines a service robot as a robot which

operates semi- or fully autonomously to perform services useful to the well-being of

humans and equipment, excluding manufacturing operations [2]. The end effectors can

be designed to perform any desired task such as welding, gripping, spinning etc.,

depending on the application. The robot arms can be autonomous or controlled manually

and can be used to perform a variety of tasks with great accuracy. The robotic arm can

be fixed or mobile (i.e. wheeled) and can be designed for industrial or home

applications. These robots also used in many fields of applications including office [2],

military tasks, hospital operations, dangerous environment and agriculture. Besides, it

might be difficulties to the worker whose must pick and place something that can affect

itself. For example, things like chemistry that cannot be picked by human and for the

military such as defuse bomb that needed robot to pick and place the bomb to

somewhere and for user that needed robot to do pick and place item while sitting and

much more. Therefore a locomotion robot can be replaced human to do work.

In addition, wireless communications are now growing very rapidly because it is

very efficient to use. Wireless technology that is widely used at close range is a device

that can interface the other devices. Communication between robots is the process of

delivering information to do something [1]. Communication between robots is an

important component in the interaction of the multiple robots and their environment. In

multiple robot systems, robot leader delivering orders to the follower robot to complete a

task that occur coordination between the robot form of communication between the

robots wirelessly. This form of communication is in the form of a command to the robot

follower robot to follow the movement of the robot leader. Advantages of

communication between the robots are efficient in completing the task. With time

quickly orders can be delivered in a broadcast to the follower so that the job can be

completed simultaneously. The robot is wireless controlled to ensure it can journey a

long way from the user [3].

3

1.2 Problem Statement

Nowadays, most of industries use wired system between the robots setup in their

industrial. The problem will be occurs when to setup the new robots, this is because the

wired or cable is heavy to handle, consequently it will take times and constraints in

setting the setup of the robots. In fact, it will take a lot of space to place it when we use

the wired system in industries [1]. Labors can‟t move around the robot freely because

disrupting with cable connectivity of robots. Furthermore, the robots is not portable

devices means robot is difficult to move another places when we want changes the place

this is because robot are involving assembly of wired [2]. On the other hand, in the

information technology systems moving forwards globalization nowadays, an old

system is improved for looking to automate their production with using new approaches

that is wireless system. This system will bring benefits in most industries such

manufacturing, electronics and health are now reaching a point where almost every field

is now automated [4].

1.3 Objective

Generally, the objectives of this project are:

1) To design and develop a wireless robotic arm using wireless system.

2) To utilize the most suitable wireless technology to implement at arm robot.

4

1.4 Scope

The scope of this project basically divided into two parts which is hardware and

software. For the hardware section, this project will use an Arduino UNO and Zigbee

modules. The Arduino hardware platform already has the power and reset circuitry setup

as well as circuitry to program and communicate with the microcontroller over

Universal Serial Bus. In addition, the Input Output pins of the microcontroller are

typically already fed out to sockets for easy access. ZigBee is low power consumption,

low cost and moderate range. This range is suitable for our application where we want to

wirelessly transmit data from Personal Computer to the robot. Another most important

reason for using ZigBee module is that these modules come with serial interface

therefore it will be easier for us to use these modules.

As for the software development, the programming for Arduino is using Arduino

IDE and Visual Basic Programming 2010. Arduino provides a number of libraries to

make programming the microcontroller easier. The simplest of these are functions to

control and read the I/O pins rather than having to fiddle with the bus/bit masks

normally used to interface with the Atmega I/O. More useful are things such as being

able to set I/O pins to Pulse Width Modulation (PWM) at a certain duty cycle using a

single command or doing Serial communication. For Visual Basic this paper is to

describe a new approach from wired to wireless technology added with Graphical user

Interface (GUI) application to make it more user-friendly. The transmitter will be

connected to the computer whereas the receiver will be connected to the robotic arm

interface. In the GUI, the robotic arm is modeled Visual Basic 2010. As a result, real-

time and simultaneous movements from simulation to actual environment will be

performed. All the movement will be calibrate to ensure that the transmission of data is

correct.

5

1.5 Thesis Structure

There are 5 chapters in this final year project thesis. In Chapter 1, there is

introduction about the project in general. Here will be well explanation about main idea

and objective. Problem involves in the topic and what is affected was discussed. There

are also the scopes and outlines of the report can be referring in this chapter.

In Chapter 2, reader can find some information about the project. This chapter is

called literature review. Some basic theory and background of study are explained here.

In this chapter, the definition, the operation of wireless technology system, and basic

theory are well explained so that reader will be able to understand about the devices used

in this project.

Chapter 3 discusses about methodology of project. In this chapter, how the

project is developed is explained stage by stage. Each part of project development is

shown in this chapter. More interesting, the case study that has been conducted from

previous studies also has been discussed here. There is also a flow chart of this project

development for reference.

The result and analysis of the project are explained in Chapter 4. In this chapter,

result with the images will be inserted. All the details about the results will be explained

here.

Chapter 5 will discuss and conclude the overall o the project. In this chapter, the

future recommendations also will be included which can help for future development.

References and appendixes are listed at the end of the thesis report.