Digital

Robotic Arm Microprocessor System Project Report

For our parents with whose support and effort we were

able to carry out this project successfully

Table of Contents

Coding and Design ..1

1. Code ..1

2. Block Diagram .7

3. Work Division7

Design..3

1. Logic Design8

2. Simulation8

Hardware and Components..10

1. Details of Components.10

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Coding and Design

1.1 Code:

# include

# include

# include

# define register ren

sbit prec=P0^7;

sbit MTR_up=P1^0;

sbit MTR_down=P1^1;

sbit MTR_left=P1^2;

sbit MTR_right=P1^3;

sbit MTR_grab=P1^4;

sbit MTR_leave=P1^5;

sbit MTR_claw_c=P1^6;

sbit MTR_claw_a=P1^7;

sbit rs=P0^0;

sbit rw=P0^1;

sbit en=P0^2;

sbit D0 = P2^0;

sbit D1 = P2^1;

sbit D2 = P2^2;

sbit D3 = P2^3;

sbit D4 = P2^4;

sbit D5 = P2^5;

sbit D6 = P2^6;

sbit busy = P2^7;

void MSDelay(unsigned int);

void serial_int();

void lcdcmd(unsigned char value);

void lcddata(unsigned char value);

void lcdready();

void main(void)

{

char ren;

int a,b,c,d ;

serial_int();

prec=1;

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MTR_up=0;

MTR_down=0;

MTR_left=0;

MTR_right=0;

MTR_grab=0;

MTR_leave=0;

MTR_claw_c=0;

MTR_claw_a=0;

lcdcmd(0x38);

lcdcmd(0x0E);

lcdcmd(0x01);

lcdcmd(0x06);

lcdcmd(0x80);

for(d=1;d

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RI=0;

lcdcmd(0XC0);

if(a==0X77)

{

MTR_up=1;

lcddata('U');lcddata('P');lcddata('.');lcddata('.');lcddata('

');

lcdcmd(0xC0);

MSDelay(b);

c++;

}

if(a==0X73)

{

MTR_down=1;

lcddata('D');lcddata('O');lcddata('W');lcddata('N');lcddata('

');

lcdcmd(0xC0);

MSDelay(b);

c++;

}

if(a==0X61)

{

MTR_left=1;

lcddata('L');lcddata('E');lcddata('F');lcddata('T');lcddata('

');

lcdcmd(0xC0);

MSDelay(b);

c++;

}

if(a==0X64)

{

MTR_right=1;

lcddata('R');lcddata('I');lcddata('G');lcddata('H');lcddata('T')

;

lcdcmd(0xC0);

MSDelay(b);

MTR_right=0;

c++;

}

if(a==0X67)

{

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MTR_grab=1;

lcddata('G');lcddata('R');lcddata('A');lcddata('B');lcddata('

');

lcdcmd(0xC0);

MSDelay(b);

c++;

}

if(a==0X6C)

{

MTR_leave=1;

lcddata('D');lcddata('R');lcddata('O');lcddata('P');lcddata('

');

lcdcmd(0xC0);

MSDelay(b);

MTR_leave=0;

c++;

}

if(a==0X63)

{

MTR_claw_c=1;

lcddata('C');lcddata('s');lcddata('p');lcddata('i');lcddata('n')

;

lcdcmd(0xC0);

MSDelay(b);

c++;

}

if(a==0X76)

{

MTR_claw_a=1;

lcddata('A');lcddata('S');lcddata('p');lcddata('i');lcddata('n')

;

lcdcmd(0xC0);

MSDelay(b);

MTR_claw_a=0;

c++;

}

else

{

MTR_up=0;

MTR_down=0;

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MTR_left=0;

MTR_right=0;

MTR_grab=0;

MTR_leave=0;

MTR_claw_a=0;

MTR_claw_c=0;

if(c==0)

{

lcddata('E');lcddata('r');lcddata('r');lcddata('o');lcddata('r')

;

lcdcmd(0xC0);

MSDelay(10000);

}

}

}

}

void serial_int()

{

TMOD=0x20;

TH1=0xFD;

SCON=0x50;

TR1=1;

}

void lcdcmd(unsigned char value)

{

lcdready();

P2=value;

rs=0;

rw=0;

en=1;

MSDelay(1);

en=0;

return;

}

void lcddata(unsigned char value)

{

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lcdready();

P2=value;

rs=1;

rw=0;

en=1;

MSDelay(1);

en=0;

return;

}

void lcdready()

{

busy=1;

rs=0;

rw=1;

while (busy==1)

{

en=0;

MSDelay(1);

en=1;

}

return ;

}

void MSDelay(unsigned int value)

{

unsigned int x,y;

for(x=0;x

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1.2 Block Diagram:

Figure 1: Block Diagram

1.3 Work Division:

Proteus Design and

Programming

Hardware and

Programming

Hardware and

Circuit Patching

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Proteus Design and Simulation

Design:

Simulation(Precision is set as high ) : Vertical UP Motion:

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Horizontal Left Motion:

Grab Motion of the Claw:

Other specified functions are also performed in a similar way.

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Hardware Components

1) Microcontroller 89C5

2) LCD

3) 4-DC motors

4) RS-232 USB to Serial Converter

5) 10k Resistors

6) 2-L293D Motor Drivers

7) 2-Bread Boards

8) Max-232

9) Capacitors

10) NOT-Gate

11) Wires

12) LCD headers

Details of Components used:

a) RS-232 USB to serial Converter:

This is the main input device used to serially connect laptop or computer with the

microcontroller. The w,a,s,d buttons are used to control directions while g,l are used to

control grab and leave action of the hand .The c and v keys are used to control

clockwise and counter-clockwise action of the claw.

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b) LCD:

An LCD will be used to display the instruction given to the robot as well as the precision

mode it is working in

c) Microcontroller (8051):

The instructions sent through the keyboard will be received by the microcontroller which

will then drive the respective motor depending upon the instruction .

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d) MAX-232:

Max 232 is used to convert RS-232s signal to TTL voltage level that are acceptable by

the micro- controller.

e) L293D Motor Driver:

Motor Driver is used to drive the motors clockwise or anticlockwise depending upon the

input and also supply voltage to drive the motors.

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f) DC motors:

DC motors were used to control the motion of the robot.