CAPSTONE PROJECT REPORT

WIRELESS ROBOT AND ROBOTIC ARM CONTROL WITH

ACCELEROMETER SENSOR PROJECT
A Project report submitted in partial fulfilment of the
requirements for the award of the degree of
BACHELOR OF TECHNOLOGY
(ELECTRONIC AND COMMUNICATION ENGINEERING)

BY
Name:

Amandeep Singh (11000597)

Banish Dubey (11002199)
Shashank Arora(11007745)
Karan Harchand(11001121)
Jatin Dhand(11011113)

Lovely Professional University Jalandhar

DelhiG.T Road (NH-1), Phagwara,
Punjab, 144402, India
2014

CERTIFICATE
This is to certify that JATIN DHAND bearing Registration no. 11011113 has completed capstone
project titled, WIRELESS RF CONTROLLED ROBOTIC CHASSIS HAVING ROBOTIC
ARM USING ACCELEROMETER under my guidance and supervision. To the best of my
knowledge, the present work is the result of her original investigation and study. No part of the
work has ever been submitted for any other degree at any University.
The project is fit for submission and the partial fulfillment of the conditions for the award.

Signature
JYOTI KOHLI
Asst. Professor
School of ECE
Lovely Professional University
Phagwara, Punjab.
Date: 26th April 14

DECLARATION
I, JATIN DHAND , student of B.TECH 1205E under Department of Electronics and
Communication of Lovely Professional University, Punjab, hereby declare that all the
information furnished in this dissertation / capstone project report is based on my own intensive
research and is genuine.
This dissertation / report does not, to the best of my knowledge, contain part of my work which
has been submitted for the award of my degree either of this university or any other university
without proper citation.

Date : 26th April ,2014

JATIN DHAND
Registration No.11011113

ACKNOWLEDGEMENT
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I take this opportunity to present my votes of thanks to all those guidepost who really acted
as lightening pillars to enlighten our way throughout this project that has led to successful
and satisfactory completion of this study.
We are really grateful to our teacher for providing us with an
opportunity to undertake this project in this university and providing us with all the facilities.
We are highly thankful to Ms. JYOTI KOHLI for his active support, valuable time and
advice, whole-hearted guidance, sincere cooperation and pains-taking involvement during the
study and in completing the assignment of preparing the said project within the time
stipulated.
Lastly, We are thankful to all those, particularly the various friends , who have been
instrumental in creating proper, healthy and conductive environment and including new and
fresh innovative ideas for us during the project, their help, it would have been extremely
difficult for us to prepare the project in a time bound framework.

CONTENT
1. INTRODUCTION.9
2. RATIONALE AND SCOPE OF STUDY..10
2.1 PROFILE OF PROBLEM..11
3. OBJECTIVE OF STUDY...12
4. RESEARCH METHADOLOGY13
5. COMPLETE WORKPLAN WITH TIMELINES..15
6. EXPECTED OUTCOMES OF STUDY.17
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7. RESEARCH AND EXPERIMENTAL WORK DONE.18

7.1 DISPLAY UNIT (LIQUID CRYSTAL DISPLAY) ...18
7.1.1 LCD pin description..20
7.2 RF TRANSCIEVER .21
7.2.1 Radio transmitter.21
7.2.2 Radio receiver.21
7.2.3 Radio transceiver22
7.2.4 Features...23
7.2.5 Applications....23
7.3 MICROCONTROLLER 8051.....23
7.3.1 A Brief History of 8051 family.23
7.3.2 8051 Microcontroller.24
7.3.3 Comparision of 8051 family members24
7.3.4 Hardware features.25
7.3.5 Software features25
7.3.6 Pin diagram.25
7.4 ANALOG - TO- DIGITAL CONVERTER (ADC 0808/09) . .27
7.4.1 Successive Approximation A/D Converter..28
7.4.2 Pin diagram of A/D 080828
7.5 ACCELEROMETER SENSOR .29
7.5.1 Features29
7.5.2 Applications....30
7.6 DC GEAR MOTOR DRIVE USING MOTOR DRIVER (L293D) ..31
7.6.1 Functions.31
7.6.2 Uses..31
7.6.3 DC gear motor drive ...31
7.6.4 Features........32
7.6.5 Pin Diagram.32

8. EXPERIMENT WORK
8.1 8051 Connection with RESET button.34
8.2 Connection of Power Supply With Voltage Regulator...34
8.3 Interfacing LCD with MCU..35
8.4 DC Geared Motor Interfacing Using L293D..35
8.5 Transmitter Section..36
9. RESULT AND DISCUSSION..37
10. FUTURE SCOPE..38
11. CONCLUSION/SUMMARY.39
12. REFRENCES.40

LIST OF FIGURES
2.1 Block diagram of transmitter
2.2 Block digram of receiver
3.1 LCD outlook
3.2 LCD pin description diagram
3.3 Radio spectrum
7.1 LCD pin description
7.2 RF Transciever
7.3 ATMEL microcontroller AT89C51
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7.4 Pin Diagram of 8051 MCU

7.5 Pin Diagram of 0808 ADC
7.6 Accelerometer sensor
7.7 Dynamic Acceleration
7.8 DC gear motor
7.9 Interfacing of DC Geared Motor With MCU
7.10 Pin Diagram Of L293D Driver
8.1 8051 Connection With RESET BUTTON
8.2 Connection Of POWER SUPPLY With Voltage Regulator
8.3 Interfacing Of LCD with MCU
8.4 DC GEARED MOTOR Interfacing Using L293D
8.5 TRANSMITTER SECTION
9.1 IMAGE OF TRANSMITTER AND RECIEVER

LIST OF TABLE
7.1 Pin description With its symbol
7.2 Comparision of 8051 Family members
7.3 Type of Available ADC

1. INTRODUCTION
Robot is an integral part in automating the flexible manufacturing system that one greatly in
demand these days. Robots are now more than a machine, as robots have become the solution of
the future as cost labour wages and customers' demand. Even though the cost of acquiring
robotic system is quite expensive but as today's rapid development and a very high demand in
quality with IS0 (International Standard Organization) standards, human are no longer capable of
such demands. Research and development of robots is movingly at a very rapid once due to the
constantly improving and upgrading of the quality standards of products Nowadays technology
has decreased working hours and have made complicate d operations more effortless.Robotics is
a field that has thrown up some wonderful machines. Typical robots do jobs that are
difficult,dangerous or dull. They lift objects. They perform the same job hour after hour, day
after day with precision. They don't get tired and they don't make errors associated with fatigue
and so are ideally suited to performing repetitive tasks. One of them is the type of a robotic
arm.A robotic arm is a type of mechanical arm, usually programmable, with similar functions to
a human arm.
Now will elaborate how robotic arm is usefull in designing of wirelesss operations
with the help of accelerometer sensor chip.
Robotic arm introduction part:Types

Various types of robotic arm are available. Each type has its own specifications. For
example, the number of joints in the arm varies. The direction in which the joints rotate varies
also. Some of the most common types of robotic arm include vertically articulated, selective
compliant assembly, polar, Cartesian, cylindrical and parallel.
Industrial Usage

Robotic arms are used in various industries. The devices are useful especially in
transporting large objects from one place to another, for example on building sites. The machines
also are used in situations where toxic fumes could be dangerous to humans, such as the
application of paints or varnishes. Robotic arms often are used in factories to assemble
dangerous equipment.
Nonindustrial Usage

Robotic arms are used in the medical profession to carry out certain precise operations.
The arms also are useful in the collection of specimens in contaminated areas. NASA has been
known to use robotic arms to hold astronauts in place and to assemble space equipment. Robotic
arms have become useful in many applications. In the future, the devices could be used to
replace lost limbs. The Defense Advanced Research Projects Agency has been working on a
replica human arm that reacts to messages from the central nervous system. The robotic arm is an
invention that could potentially change lives.

2.

RATIONALE AND SCOPE OF STUDY

Accelerometer Based Gesture Recognisation For Wheel Chair Direction Control

Wireless robot and robotic arm controlled by accelerometer can be used for handicaps which can
be used to implement wheel chair direction control with hand gesture recognization .this project
to develop a wheel chair control which is used for physically disabled person with his hand
movement .This proposes an integrated approach to real time detection,tracking and direction
recognition of hands which is intended to use as human-robot interaction interface for the
intelligent wheel chair.accelerometers can be used to effectively translate finger and hand
gestures into ADC which convert the analogous data to digital which is further decode by the
microcontroller For gesture recognition the accelerometer data is calibrated and filtered. The
accelerometers can measure the magnitude and direction of gravity in addition to movement
induced acceleration. In order to calibrate the accelerometers, we rotate the device's sensitive
axis with respect to gravity .
For Military Purposes
As there are places where man dares do not venture.Robots have traditionally been put to use in
environments that are too hazardous for man. They aim to develop a model which will be
efficiently used to minimize terrorist causality. Being able toachieve reliable long distance
communication with user-friendly robot control is an important open area of research to
robotics.Robots also work under precarious conditions, for search and rescue after disasters.they
can also be used in war too.Battle robots of various shapes and sizes were deployed to defuse
landmines, search for criminals hiding in caves, search for bombs.
Tracking enemies
Nowadays tracking enemies at different areas are very much difficult for soldiers. There may be
a chance of lost of lives of the soldier during war and emergency situations. So the idea is to
replace a real soldier with robot soldier.If we mount a wireless camera on robot then it can also
monitor enemy remotely when required. It can silently enter into enemy area and send us all the
information through its tiny camera eyes. Since human life is always precious, theserobots are
the replacement of fighters against terrorist in war areas. This spy robot can alsobe used in star
hotels, shopping malls, jewelry show rooms, etc where there can be threat.

2.1 PROFILE OF THE PROBLEM

The profile of the problem is that in previous time, the man had to do all the work and if he is
disabled the problem increases thousand folds. 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.

THE PROBLEM STATEMENT is

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

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. Robotics is the
engineering science and technology of robots, and their design, manufacture, and application.
Robot is a virtual or mechanical artificial agent. In practice, it is usually an electromechanical
machine which is guided by computer or electronic programming, and is thus able to do tasks on
its own. Robotics is related to electronics, mechanics, and software

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3. OBJECTIVE OF STUDY
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. Robotics is the engineering science and technology of robots, and
their design, manufacture, and application. Robot is a virtual or mechanical artificial agent. In
practice, it is usually an electromechanical machine which is guided by computer or electronic
programming, and is thus able to do tasks on its own. Robotics is related to electronics,
mechanics, and software.
This project aims to implement this robotic arm by interfacing it with acceleration sensors
wirelessly which makes the user interface comfortable. Though the use of a robotic arm is very
simplified, the implementation of this arm requires a good knowledge of Engineering
Mechanics(contains a portion of formation of robotic arm and chassis ), Electronics
Devices(contains a portion of devices such as power supply, battery, Analog to digital converter,
LCD etc)and Embedded Systems (contains 8051 microcontroller)as well.
The objective is to implement this project with application such as use of camera which will be
beneficial from the security point of view. More applications can be implemented in this project
according to the requirement

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4. RESEARCH METHODOLOGY

TRANSMITTER

Fig.4.1 BLOCK DIAGRAM OF TRANSMITTER

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 .

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 RECEIVER

Fig.4.2 BLOCK DIAGRAM OF RECIEVER

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 .

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5. COMPLETE WORK PLANS WITH TIMELINES

JANUARY 2014
In the middle of January , the main aim was to search projects which were reliable and with
affordable cost . After lot of search , one topic was selected which was based on wireless
communication and its application with the use of accelerometer sensor . Planning was started
on how to proceed with the project. First step was to start work for gathering data and
components information regarding the project undertaken from internet . Second step was to
search program coding using C language and watch videos on Youtube which was based on this
project . At the end of month ideas and topic was shared among group members and mentor .
At last mentor agreed to select one topic.
FEBRUARY 2014
After the approval regarding project , work was started on project . The components were
purchased from the Jalandhar city market . After three or four visit to the market the
components were purchased . Then group was divided into the sub group in the ratio of 2
volunteer in the transmitter part and 3 volunteer in the receiver part respectively . Two group
members started their work on the transmitting end and three members worked on the receiver
end . Firstly , power supplies were made which were using in the receiver and transmitter ends .
On the transmitter end interfacing of LCD with microcontroller and connection with the power
supply was completed . circuit of LCD was checked by providing power using power supply .
PCB circuit was made in which ADC was connected with the 555 timer in the separate circuit
which was then interfaced with the 8051 MCU .
Alternatively, the rest three group members were working on the same circuit
of power supply and MCU interface with LCD on the receicver side . On the receiver end, the
connection of two L293D motor drivers in the separate PCB circuit was made in which one
motor driver was used for chassis control and another one was used for robotic arm control.
MARCH 2014
At the start of the month working on the interfacing of L293D motor drivers with the 8051
mircocontroller was completed . On the transmitter and receiver side , connection of RF module
was made so that the wireless communication can take place . On the transmitter side
connection of the accelerometer sensor with the ADC chip was completed .Accelerometer sensor
in two dimensional coordinates system (2-D) i.e X & Y axis was used .Calculation of all the X
& Y axis values that comes from the accelerometer with respect to earths gravitational field ( g
= 9.8 m/sq. sec) was noted.
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Next step was to work on the coding part which was totally based on the C
-language . On the transmitter side , two out of five group members wrote the code for
transmitter and on the receiver side rest of the members were writing the code and was
successful in completing the code at the end of the month and the transmitter and receiver code
was successfully complied on the keil version 4. Another step was to make the wooden chassis
and connected it with wheels and with motor so that it could move easily and also attached
freely roller wheel in the front of the chassis . On going project was shown to the mentor. She
provided corrective measure to be taken while performing the project.

Fig.5.1 TRANSMITTER SECTION

APRIL 2014
After building the robo chassis ,next step was to mount the receiver circuits on the chassis and
also to make the robotic arm using PVC pipes having diameter 2 cm and 6 cm by cutting them
in such a way that their shapes could use for holding things . One motor was connected at the
end of arm joint and another motor was used in clamp joint for open and close purposes . Project
was successfully implemented and it also picked and placed things upto the weight of 200gms.
The project was completed and in full working condition. The robot chassis understood the
gestures performed according to the movement of accelerometer sensor and moves accordingly .
Later project was shown to our mentor and got appreciation .

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6.

EXPECTED OUTCOMES OF STUDY

1) Accelerometer sensor moves the chassis with respect to earths gravitational field (i.e.
g=9.8m/sec^2). Gravitational field of earth is a measure factor in deciding at which angle of the
chassis move when accelerometer sensor is moved in X&Y direction respectively. Z-direction
pin is not utilized, but it can be used according to the requirement in 3D projection.
2) Robotic arm movement depends on the type of command given by the transmitter section i.e.
it may move forward , reverse and can pick and place objects. Picking objects of different weight
require different type of motors respectively. In this project light motor is used which when
tested lifted the objects upto the weight of 200 gms.
3)It when performed with complete caution, it gives outcomes ouputs according to the command
given.

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7. RESEARCH AND EXPERIMENTAL WORK DONE

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 0808/9)
Acceleration Sensor
DC gear motor drive using motor driver (L293D)

7.1

DISPLAY UNIT (LIQUID CRYSTAL DISPLAY)

Liquid crystal displays (LCD) are widely used in recent years as compares to LEDs. This is due
to the declining prices of LCD, the ability to display numbers, characters and graphics,
incorporation of a refreshing controller into the LCD, their by relieving the CPU of the task of
refreshing the LCD and also the ease of programming for characters and graphics. HD 44780
based LCDs are most commonly used. The LCD, which is used as a display in the system, is
LMB162A. The main features of this LCD are: 16 X 2 display, intelligent LCD, used for
alphanumeric characters & based on ASCII codes. This LCD contains 16 pins, in which 8 pins
are used as 8-bit data I/O, which are extended ASCII. Three pins are used as control lines these
are Read/Write pin, Enable pin and Register select pin. Two pins are used for Backlight and LCD
voltage, another two pins are for Backlight & LCD ground and one pin is used for contrast
change.

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Table 7.1 LCD PIN DESCRIPTION

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 LCD pin description

The LCD discuss in this section has the most common connector used for the Hitachi 44780
based LCD is 14 pins in a row and modes of operation and how to program and interface with
microcontroller is describes in this section.

Fig.7.1 LCD PIN DIESCRIPTION

VCC, VSS, VEE

The voltage VCC and VSS provided by +5V and ground respectively while VEE is used for
controlling LCD contrast. Variable voltage between Ground and Vcc is used to specify the
contrast (or "darkness") of the characters on the LCD screen.
RS (register select)
There are two important registers inside the LCD. The RS pin is used for their\ selection as
follows. If RS=0, the instruction command code register is selected, then allowing to user to send
a command such as clear display, cursor at home etc.. If RS=1, the data register is selected,
allowing the user to send data to be displayed on the LCD.
R/W (read/write)
The R/W (read/write) input allowing the user to write information from it. R/W=1, when it read
and R/W=0, when it writing.

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 EN (enable)
The enable pin is used by the LCD to latch information presented to its data pins. When data is
supplied to data pins, a high power, a high-to-low pulse must be applied to this pin in order to for
the LCD to latch in the data presented at the data pins.
D0-D7 (data lines)
The 8-bit data pins, D0-D7, are used to send information to the LCD or read the contents of the
LCDs internal registers. To displays the letters and numbers, we send ASCII codes for the letters
A-Z, a-z, and numbers 0-9 to these pins while making RS =1. There are also command codes that
can be sent to clear the display or force the cursor to the home position or blink the cursor. We
also use RS =0 to check the busy flag bit to see if the LCD is ready to receive the information.
The busy flag is D7 and can be read when R/W =1 and RS =0, as follows: if R/W =1 and RS =0,
when D7 =1(busy flag =1), the LCD is busy taking care of internal operations and will not accept
any information. When D7 =0, the LCD is ready to receive new information.

7.2

RF TRANSCEIVER

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.
7.2.1 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. The transmitter itself generates a radio
frequency alternating current, which is applied to the antenna. When excited by this alternating
current, the antenna radiates radio waves. In addition to their use in broadcasting, transmitters are
necessary component parts of many electronic devices that communicate by radio, such as cell
phones, wireless computer networks, Bluetooth enabled devices, garage door openers, two-way
radios in aircraft, ships, and spacecraft, radar sets, and navigational beacons. The term
transmitter is usually limited to equipment that generates radio waves for communication
purposes; or radiolocation, such as radar and navigational transmitters. Generators of radio
waves for heating or industrial purposes, such as microwave ovens or diathermy equipment, are
not usually called transmitters even though they often have similar circuits. The term is popularly
used more specifically to refer to a broadcast transmitter, a transmitter used in broadcasting, as in
FM radio transmitter or television transmitter. This usage usually includes the transmitter proper,
the antenna, and often the building it is housed in. An unrelated use of the term is in industrial
process control, where a "transmitter" is a telemetry device which converts measurements from a
sensor into a signal, and sends it, usually via wires, to be received by some display or control
device located a distance away.
7.2.2 Radio Receiver
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
20

signal. Prevalent in the early 20th century, 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.
7.2.3 Radio Transceiver
A transceiver is a device comprising both a transmitter and a receiver which are combined and
share common circuitry or a single housing. When no circuitry is common between transmit and
receive functions, the device is a transmitterreceiver. The term originated in the early 1920s.
Technically, transceivers must combine a significant amount of the transmitter and receiver
handling circuitry. Similar devices include transponders, transverters, and repeaters. In radio
terminology, a transceiver means a unit which contains both a receiver and a transmitter. From
the beginning days of radio the receiver and transmitter were separate units and remained so until
around 1920. Amateur radio or "ham" radio operators can build their own equipment and it is
now easier to design and build a simple unit containing both of the functions: transmitting and
receiving. Almost every modern amateur radio equipment is now a transceiver but there is an
active market for pure radio receivers, mainly for shortwave listening (SWL) operators. An
example of a transceiver would be a walkie-talkie, or a CB radio.

Fig. 7.2 RF TRANSRECIEVER-MODEL 3478

In a typical system, this trans-receiver will be used together with a microcontroller. It provides
extensive hardware support for packet handling, data buffering, burst transmissions, clear
channel assessment, link quality indication and wake on 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, AMR-automatic Meter Reading, Consumer Electronics. Industrial monitoring
and control, Wireless Game Controllers, Wireless Audio/Keyboard/Mouse)

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7.2.4 Features
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
7.2.5 Applications
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

7.3

MICROCONTROLLER 8051

In our day to day life the role of micro-controllers has been immense. They are used in a variety
of applications ranging from home appliances, FAX machines, Video games, Camera, Exercise
equipment, Cellular phones musical Instruments to Computers, engine control, aeronautics,
security systems and the list goes on.
7.3.1 A brief history of 8051 Family
In 1981, Intel Corporation introduced an 8-bit microcontroller called the 8051. This
microcontroller had 128 bytes of RAM, 4K bytes of on-chip ROM, two timers, one serial port,
and four ports (8-bit) all on a single chip. The 8051 is an 8- bit processor, meaning the CPU can
work on only 8- bit pieces to be processed by the CPU. The 8051 has a total of four I/O ports,
each 8- bit wide. Although 8051 can have a maximum of 64K bytes of on-chip ROM, many
manufacturers put only 4K bytes on the chip. The 8051 became widely popular after Intel
allowed other manufacturers to make any flavor of the 8051 they please with the condition that
they remain code compatible with the 8051. This has led to many versions of the 8051 with
different speeds and amount of on-chip ROM marketed by more than half a dozen
manufacturers. It is important to know that although there are different flavors of the 8051, they
are all compatible with the original 8051 as far as the instructions are concerned. This means that
if you write your program for one, it will run on any one of them regardless of the manufacturer.
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The major 8051 manufacturers are Intel, Atmel, Dallas Semiconductors, Philips Corporation,
Infineon.
7.3.2 8051 microcontroller
The 8051 is the original member of the 8051 family. Intel refers to it as MCS-51. Other members
of the 8051 family There are two other members in the 8051 family of microcontrollers. They are
the 8052 and the 8031.
7.3.3 Comparison of 8051 Family Members

Fig.7.2 COMPARISON OF 8051 FAMIY MEMBER

AT89C51 from ATMEL Corporation:

This popular 8051 chip has on-chip ROM in the form of flash memory. This is ideal for fast
development since flash memory can be erased in seconds compared to twenty minutes or more
needed for the earlier versions of the 8051. To use the AT89C51 to develop a microcontrollerbased system requires a ROM burner that supports flash memory: However, a ROM eraser is not
needed. Notice that in flash memory you must erase the entire contents of ROM in order to
program it again. The PROM burner does this erasing of flash itself and this is why a separate
burner is not needed. To eliminate the need for a PROM burner Atmel is working on a version of
the AT89C51 that can be programmed by the serial COM port of the PC.

23

Fig. 7.3 ATMEL MICROCONTROLLER AT89C51

7.3.4 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
7.3.5 Software features
Bit Manipulations
Single Instruction Manipulation
Separate Program And Data Memory
4 Bank Of Temporary Registers
Direct, Indirect, Register and Relative Addressing.
In addition, the AT89C51 is designed with static logic for operation down to zero frequency and
supports two software selectable power saving modes. The Idle Mode stops the CPU while
allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The
Power down Mode saves the RAM contents but freezes the oscillator disabling all other chip
functions until the next hardware reset. The Atmel Flash devices are ideal for developing, since
they can be reprogrammed easy and fast. If we need more code space for our application,
particularly for developing 89Cxx projects with C language. Atmel offers a broad range of
microcontrollers based on the 8051 architecture, with on-chip Flash program memory.
Pin description
The 89C51 have a total of 40 pins that are dedicated for various functions such as I/O, RD, WR,
address and interrupts. Out of 40 pins, a total of 32 pins are set aside for the four ports P0, P1,
P2, and P3, where each port takes 8 pins. The rest of the pins are designated as Vcc, GND,
XTAL1, XTAL, RST, EA, and PSEN. All these pins except PSEN and ALE are used by all
members of the 8051 and 8031 families. In other words, they must be connected in order for the
24

system to work, regardless of whether the microcontroller is of the 8051 or the 8031 family. The
other two pins, PSEN and ALE are used mainly in 8031 based systems.

Fig.7.4 PIN DIAGRAM OF 8051

25

7.4 ANALOG TO DIGITAL CONVERTER (ADC

0808)
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-to-digital
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. 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
Types of available ADCs

TABLE 7.3 TYPES OF AVAILABLE ADC

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7.4.1 Successive Approximation A/D converter

This is the 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. It
includes three major elements:
The D/A converter
The Successive Approximation Register
The comparator.
Key specifications of ADC0808
Easy interface to all microprocessors and microcontrollers.
Resolution: 8 Bits.
Operates ratio metrically or with 5 VDC or analog span.
No zero or full scale adjusts required.
8-channel multiplexer with address logic.
Total Unadjusted Error = LSB.
Single supply 5 VDC
Low Power 15m W, conversion time 100
Pin diagram of ADC 0808

Fig. 7.5 PIN DIAGRAM OF ADC0808

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7.5 ACCELERATION/VIBRATION/TILT SENSOR 3

AXES
Accelerometer sensor can measure static (earth gravity) or dynamic acceleration in all three
axes. Application of the sensor is in various fields and many applications can be developed using
this sensor. 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. Sensor provides 0G output which
detect linear free fall. Sensitivity can be adjusted in two ranges. Acceleration is a vector force
which has direction and measured in meters per Second Square. Earth produces gravitational
acceleration on all objects on earth. By monitoring the three axis acceleration one can measure
the level of tilt of any platform.

Fig.7.6 ACCELEROMETER SENSOR

7.5.1 Features
Simple to use
Analog output for each axis
+5V operation @1mA current
High Sensitivity (800mV/g @ 1.5g) Selectable Sensitivity (+- 1.5g, +- 6g)
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 0g detect for free fall detection

Robust design, high shock survivability
Low Cost
7.5.2 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

Fig.7.7 DYNAMIC ACCELERATION

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7.6 DC GEAR MOTOR DRIVER MOTOR DRIVER (L293D)

A gear motor is a type of electrical motor. Like all electrical motors, it 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).
7.6.1 Function:
In a gear motor, the magnetic current (which can be produced by either permanen 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.
7.6.2 Uses:
Gear motors are commonly used in 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.

Fig 7.8 DC GEAR MOTOR

7.6.3 DC Geared Motor Driver:

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
30

driver circuits i.e. ULN2003 and transistor/opto-couplers are often used. Or a motor driver like
L293D can be used which is a H bridge IC to control the direction of motor rotation.

Fig. 7.9 INTERFACING OF DC GEARED MOTOR WITH MCU

7.6.4 Features:
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
7.6.5 Pin Diagram:

Fig.7.11 PIN DIAGRAM OF L293D

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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. And one motor can be connected across the output 1 and output 2. 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. And 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.

32

EXPERIMENT WORK

8051 Connections with RESET button

Fig 8.1 8051 Connections With RESET button

Connection of Power Supply with Voltage Regulator

Fig 8.2 Connection Of Power Supply With Voltage Regulator

33

 Interfacing of LCD with MCU

Fig.8.3 Interfacing Of LCD with MCU

DC Geared Motor Interfacing Using L293D

Fig 8.3 DC Geared Motor Interfacing Using L293D

34

 Transmitter Section

Fig. 8.4 Transmitter Section

35

RESULT AND DISCUSSION

Successfully implemented the wireless robot/robotic arm using accelerometer sensor circuit.
After applying the battery we were able to move the hardware part of receiver circuit wirelessly
with the hardware part of transmitter circuit. The circuit worked as per the programming code
implemented in MCU of transmitter and receiver. Programming part includes the instructions
provided by the transmitter to the receiver. Accelerometer sensor works to rotate the chassis in
the four directions namely forward, backward, left and right and switch circuit is used to control
the movement of robotic arm in the forward and reverse direction and for pick and place
purposes of objects upto the weight of 200 gms.

Image of Transmitter and Receiver

Fig. 9.1Wireless Robot And Robotic Arm Control With Accelerometer

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FUTURE SCOPE
The Robotic arm can be made more efficient if a strong chassis and Servo Motors with a high
torque values are used. If the Power Supply used for the Servos gives a good current value the
servos will perform to its best. This Robotic arm is only 2-Dimensional. With some
modifications and additions the motion along the third dimension can also be implemented in
this project. This arm can also be taken to a higher level by changing the sensor. 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 will be extremely
beneficial for the Handicapped. This type of a robotic limb can become the most sophisticated of
its kind in the world, recreating virtually every movement of a natural arm and all of it
controlled by brain power.
Camera can be mounted on the chassis to see the front path and can be
recorded in videos as well as capture in images . This is used in the military application to detect
the hidden bomb or hidden militants in the dense or isolated areas . These images and videos can
be watch far away in the laptop . This concept can be use for the handicap patients wich can be
installed in their wheel chair for their ease .

37

CONCLUSIONS / SUMMARY
Today we find most robots working for people in industries, factories, warehouses, and
laboratories. Robots are useful in many ways. For instance, it boosts economy because
businesses need to be efficient to keep up with the industry competition. Therefore, having
robots helps business owners to be competitive, because robots can do jobs better and faster than
humans can, e.g. robot can built, assemble a car. Yet robots cannot perform every job; today
robots roles include assisting research and industry. Finally, as the technology improves, there
will be new ways to use robots which will bring new hopes and new potentials. We have
concluded that Robotic Arm if constructed accurately and in a systematic way then can be used
for along list of applications. The construction is little difficult as it involves lots of wiring and
connections. The Accelerometers should give noise less outputs and should be handled with care
because of the delicate structure. Over use of the servos should be avoided because of the
Melting of gears due to high level of friction

38

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