TERM PAPER
Name:- Devvrat Dixit RB1801B28 10800679 , ECE-212
Topic:- Design Of Microprocessor Based Robotics Arm
ABSTRACT
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 human- size industrial
robot arm called PUMA 560 used
to explore issues in versatile
object handling and compliance
control in grasp actions.
This paper explains the method
of interfacing the robotic arm
stepper motors with the
programmed 8051-based
microcontroller which are used to
control the robot operations. We
have employed the assembly
language in programming our
microcontroller. A sample robot
which can grab (by magnetizing)
and release small objects (by
demagnetizing) is built for
demonstrating the method
explained.
The IC and other peripherals
which are used to build robot arm
is- MPU or MCU, PUMA, PIO,
LATCH and I/O.
I. INTRODUCTION
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” .
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
8051-based microcontroller.
Here we are using the 8051
microcontroller so that it can
interface directly. We can use
microprocessor but for that we
have to interface with many
peripherals like 8254, 8255, 8259
etc. The 8051’s instruction set is
optimized for one-bit operations
that are often desired in real
world, real time
operations.
The primary objective is to make
the Robotic arm, which
comprises of three stepper
motors, to interface with the In-
Material published as part of this
term paper, either on-line or in
print, is copyrighted by the
Informing Science Institute. Intel
8051-based micro-controller. It
provides more interfaces to the
outside world and has large
memory to store many programs.
The scope of this work involves
confirming the 8051 micro-
controller Input / Output (I/O)
signals are compatible with that
of the robotic arm stepper motors
and testing of the robot’s motor
signals through programming the
8051 microcontroller. Assembly
programming is used to develop
the programs for the EPROM
2732 on the 8051 micro-
controller platform that takes
robot’s motor signal as I/O and
controls the robot operation
programmatically. We have
assumed that after figuring out
the interface issues for the Robot
with the 8051 microcontroller,
the same knowledge can be
extended to make very complex
robots with enhanced
functionality.
We’ll learn and familiarize with
the 8051 micro-controller using
assembly language, and
converting the assembly language Robot technology is an applied
codes to hexadecimal codes using science that is referred to as a
a development board. combination of machine tools
1. ROBOTICS and computer applications. It

The word ‘robotics’, meaning the includes such diverse fields as

study of robots was coined by machine design, control theory,

Isaac Asimov. Robotics involves microelectronics, computer

elements of both mechanical and programming, artificial

electrical engineering, as well as intelligence, human factors, and

control theory, computing and production theory.

now artificial intelligence. The five generations of robot

According to the Robot Institute controllers after the high-tech

of America, “A robot is a inception in 1960 are as follows:-

reprogrammable, multifunctional a.) First generation:- Repeating

manip-ulator designed to move robots. these were generally

materials, parts, tools or pick and place robots, with

specialized devices through mechanical sequences

variable programmed motions for defining stop points.

the performance of a variety of b.) Second generation:-

tasks”. Hardwired contro-llers

The fact that a robot can be provided the first

reprogrammed is important: it is programmable units.

definitely a characteristic of c.) Third generation:-

robots. Programmable logic

In order to perform any useful controllers (PLC), introduced

task the robot must interface with in the industry over thirteen

the environment, which may years ago, provided a

comprise feeding devices, other microprocessor-based robotic

robots, and most importantly controller that is easy to

people. program.
d.) Fourth generation:- When shoulder which allows for
control beyond the plc is upward and downward
required, a microcomputer movement of the arm; while the
may control the entire last stepper motor at the wrist
system, including other allows for the picking of objects
programmable machinery in by the magnetic hand.
a robot workcell. 2. MICROPROCESSOR
e.) Fifth generation:- Robot A microprocessor is an entire
controller will involve computer manufactured on a
complete artificail single chip. Micropro-cessor are
intelligence (AI), miniatured usually dedicated devices
sensors, and decision making embedded within an application.
capabilities. For eg: As engine controllers in
automobiles and as exposure and
focus controllers in cameras. In
order to serve these applications,
they have a high concentration of
on-chip facilities such as serial
ports, parallel input/output ports,
timers, counters, interrupt
FIG:1.MECHANICAL
control, analog-to-digital
STRUCTURE OF ROBOT ARM
converters, random access
In constructing a robot arm, we
memory, read only memory, etc.
generally made use of three
The I/O, memory, and on-chip
stepper motors and gears since
peripherals of a microcontroller
our structure is a three
are selected depending on the
dimensional structure. A typical
specifics of the target application.
prototype that we employed is as
Since microcontrollers are
shown in Fig.1. There is a stepper
powerful digital processors, the
motor at the base, which allows
degree of control and
for circular movement of the
programmability they provide
whole structure; another at the
significantly enhances the capabilities. Real-time operation
effectiveness of the application. refers to the fact that the
Embedded control applications embedded controller must be able
also distinguish the to receive and process the signals
microcontroller from its relative, from its environment as they are
the general purpose received. Multitasking is the
microprocessor. Embedded capability to perform many
systems often require real-time functions in a simultaneous or
operation and multitasking quasi-simultaneous manner.

FIG:2. BLOCK DIAGRAM OF MICROPROCESSOR

The various components of the temporary storage of data
MCU shown in Figure 2 are during runtime.
explained below:- b. ROM: ROM is the
a. Random Access Memory memory which stores the
(RAM): RAM is used for program to be executed.
c. SFR Registers: Special microcontrollers have
Function Registers are ports which are connected
special elements of RAM. to the pins on its case.
d. Program Counter: This is Every pin can be
the "engine" which starts designated as either input
the program and points to or output to suit user's
the memory address of needs.
the instruction to be h. Oscillator: This is the
executed. Immediately rhythm section of the
upon its execution, value MCU. The stable pace
of counter increments by provided by this
1. instrument allows
e. Control Logic: As the harmonious and
name implies, it which synchronous functioning
supervises and controls of all other parts of MPU.
every aspect of operations i. Timers: Timers can be
within MPU, and it used for measuring time
cannot be manipulated. It between two occurrences
comprises several parts, and can also behave like a
the most important ones counter. The Watchdog
including:- Instructions Timer resets the MPU
decoder, Arithmetical every time it overflows,
Logic Unit (ALU) and and the program
Accumulator. execution starts anew
f. A/D Converter: A/D (much as if the power had
stands for analog to just been turned on).
digital. They convert Power Supply Circuit:
analog signals to digital this powers the MPU.
signals.
g. I/O Ports: To be of any II. METHODOLOGY
practical use,
The method employed in
designing and
constructing the robotic
arm are based on the 1. Circuit Diagram
operational characteristics The electronic circuit diagram of
and features of the the development board is as
microcontrollers, stepper shown in Fig 3. The connection
motors, the electronic of the identified components and
circuit diagram and most devices are as shown. The
importantly the components shown are: the MCU
programming of the or MPU, the LATCH 74LS373,
microcontroller and the EPROM 2732, Intel 8255
stepper motors. PIO, diodes, resistors, capacitors,
inductors, transistors, and op-
amps. This components work
together to achieve the set goal of
controlling the anthropomorphic-
like arrangement of the stepper
motor. The microcontroller is the
processing device that
coordinates all the activities of all
the components for proper
functioning.
2. Power Supply
This is used to power the whole
system i.e. the Control Unit,
Magnetic Sensing Unit, and the
FIG:3. BLOCK
Stepper Motors. The transformer
DIAGRAM OF
is a 220/12V step down
METHODOLOGY
transformer. We used a bridge
USED
rectifier to convert the 12V
alternating current to
current.
The unregulated output from the
filtering circuit is fed into a
voltage regulator LM7805 and
LM7812. These two are chosen
for the design because
LM7805 has an output of +5V
which is required to power the
Control Unit, and the Magnetic
Coil while the LM7812 has an
output of +12v which is required
to power the Stepper motors.
The TIP41 connected to the IC
regulators functions as an emitter
follower amplifier making sure
that at least the required voltage
by the Control Unit, the Magnetic
Coil and the Stepper Motors
produced.
3. MCU 8051 or MPU
direct This is a D-type transparent latch.
It is an 8 bit register that has 3
state bus driving outputs, full
parallel access for loading, and
buffer control inputs. It is
transparent because when the
the enable EN (enable) input is high,
the output will look exactly like
the D input. This latch
particularly separates the data and
address information from the
MCU before sending to the
instructed destination.
The high-impedance state and
increased high logic-level drive
provide these registers with the
capability of being connected
directly to and driving the bus
lines in a bus-organized system
without need for interface or pull-
up components. These latches are

8086 particularly attractive for

implementing buffer registers,
This is the processor. It
I/O ports, bidirectional bus
coordinates the operation of the
drivers, and working registers.
robotic arm by collecting
We are using this latch because
information from the EPROM,
there is a need to separate our 8
the LATCH, and the PIO;
bit data and 8 bit address
interprets and then execute the
information from the common
instructions. It is the heart of the
line of the MCU, and send them
whole system.
to the appropriate device(s).
4. LATCH 74LS373
 5. 8255 PIO
This is a programmable 8. The Magnetic
input/output device. It interfaces Sensing Unit
the connection between the 8051, The magnetic sensing unit
the LATCH 74LS373, and the consists of a magnetic coil which
EPROM 2732 to external devices can be magnetized simply by the
such as the stepper motors, (as is action of the port P1.0 of the
our own case) thereby allowing 8051. The port 1.0 was made use
for communication. of because when designated as
6. (EPROM) 2732 output, each of the pin can be
EPROM stands for Electrically connected up to four TTL inputs.
Programmable Read Only That is why we have connected
Memory. We made use of this the pin 1.0 to the magnetic coil
external EPROM specifically through three TTL logic.
because it makes the controller The design is such that on the
cheaper, allow for longer downward movement of the
programs, and because its content wrist, the 8051 sends an electrical
can be changed during run time signal to the Darlington pair
and can also be saved after the connected to the magnetic coil.
power is off. The magnetic sensing unit is
7. Stepper Motor powered on by three BC548

The stepping motor is a motor Darlington NPN pair transistor,

that is driven and controlled by through a diode each and a 5k

an electrical pulse train generated resistor. The pair amplifies the

by the MCU or MPU (or other current and makes the magnetic

digital device). Each pulse drives coil turn into magnet. Then any

the stepping motor by a fraction magnetic material could be

of one revolution, called the step picked (by attraction) and then

angle. movement continues.

The magnetic material can then
be dropped at another point when
the wrist is made to come down, downward movement of the
this also is an action from the hand. The stepper motor at the
MCU 8051 or MPU 8086 as it shoulder (M2) moves next
withdraws the electrical signal stepping five times (45°) and
from the coil. makes the connected gears to
9. CONTROL UNIT cause the movement of the arm

This is the control panel of the 45° forward. Then the stepper

system as it oversees the motor at the base(M1) moves

operations of the mechanical arm, either ten times (90°) or twenty

and the magnetic sensing unit. times (180°), depending on the

The MCU 8051 or MPU 8086 of button pressed, causing the whole

the control unit acts as the brain structure to turn from right to

of the control panel as it left( or vice versa) through the

coordinates all the activities of connected gears.

the other devices. When power The magnetic coil resting on the

(+5V) was supplied to the control hand becomes magnetized

unit, the MCU started off by immediately the last gear on the

loading the program from the hand stops moving. Then, it

EPROM M2732A, interpreted magnetizes (picks) any magnetic

and executed the instruction material it can find and then M3

codes through the various and M2 moves the arm up while

operational principles. M1 moves (rotates the structure)

The MCU 8051 or MPU 8086 from left to right (or vice versa)

then sends signal to the stepper and then the 8086 demagnetizes

motor which moves 9° per step. the magnetic coil thereby making

The stepper motor (M3) at the the hand to drop the metallic

wrist first moves five times (45°) object

turning the gears to cause a

 soldered and it used the
III. RESULT required procedure for the
This work is able to correct
successfully accomplish operation of the processor.
the defined functionality. The 8086 development
A sample robot which can board has been interfaced
rotate, magnetize an to
object, lower and raise its
arm, by being controlled
by the 8086 MPU is built the stepper motors such
successfully. The 8086- that the anthropomorphic
development board is like structure can be
controlled from the a rotation of 180 degree of
buttons at the base of the the base stepper motor,
structure (robotic arm). but when put on 90
There are four buttons degrees, it causes rotation
being controlled by the of 90 degrees.
control unit at the base of
the arm:
• ON/OFF: The ON button
puts on the system while
the OFF button puts off
the system.
• START/STOP: The
START button starts the
movement of the whole
arm from its reset point,
while the STOP button
takes the arm back to its
reset button after
completion of its
movement.
•RIGHT-LEFT/LEFT-
RIGHT: When this button
is switched to the RIGHT-
LEFT part it causes IV. CONCLUSION
movement from right to In this paper I have interfaced the
left, while the LEFT-RIGHT robot with different kinds of I/O
part causes movement devices and our method allows
from left to right. for storing more programs to
• 180/90: When the enhance more functionality.
button is on 180, it causes From our work, we deduced that
in comparison to humans, robots Preet Kanwal for guiding me in
can be much stronger and are completion of my term paper.
therefore able to lift heavier
weights and exert larger forces. VI. REFERENCES
They can be very precise in their 1) Hall, D. V. (2004).
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improve working conditions, interfacing,
reduce material wastage and Programming and
improve product quality. hardware (pp 278-
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important in industries because 2) Hicks, P. E. (1994).
the overall objective of industrial Industrial
engineering is productivity. engineering and
Meanwhile, intelligent Control is
management.
the discipline that implements
McGraw-Hill.
Intelligent Machines (IMs) to
3) Bejczy, A. K., & Jau,
perform anthro-pormorphic tasks
B. M. (1986). Smart
with minimum supervision and
hand systems for
interaction with a human
robotics and
operator.
teleoperation.
This project can be further
Proceedings of the
enhanced to as a multi-
Sixth CISM-IFToMM
disciplinary project involving
Symposium on
electrical and computer engineers
Theory and Practise
to work together to create more
of Robots and
complex, intelligent robots
Manipulators,
controlled by the 8051 MCU.
Hermes Publishing.
4) http://www.robotics.
V. ACKNOWLEDGEMEN
T utexas.edu/rrg/learn
I Devvrat Dixit of LPU would _more/history/
like to thank my faculty Ms.