Emtron Technologies Pvt. Ltd. Flat No-101, B3 Wing, 1st Floor, Divyam Hights, Gilbert Hill, Shreenath Nagar, Andheri –West, Mumbai-58 +91-8080181911 E-mail: [email protected], www.emtrontech.in

Five DOF Robotic Arm with PC Interface

Three DOF Rover with PC Interface

System Specifications: 

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This system consists of: Five degrees freedom of axis with lifting capacity of 100grms o Motor-M1:Gripper open and close 0 to 1.77 inches o Motor-M2: Wrist motion: 120 degrees o Motor-M3: Elbow range 300 degree o Motor-M4:Vertical reach: 15 inches o Motor-M5: Horizontal reach: 12.6 inches Search Light Manual Keyboard operation PC USB interface o MATLAB Interface o Lab view Interface Bluetooth Interface RTC Interface LCD Interface Sensor Interface Speed control of DC motor using PWM Control (conveyor belt etc) Battery Backup USBISP for programming the control board Atmega128 controller

 This controller card can be used even for high power DC motors up to 25A current and supplied to various solar companies like Gadhia Solar Energy , Flarium solar etc.

Product design Specifications: a. Controller Section: This system consists of five freedom of axis robotic arm interfaced to Atmega128 microcontroller. PORTB is used for interfacing the relays to drive the motors M1-M5. PortB.0=M1, PortB.1=M2, PortB.1=M3, PortB.1=M4, PortB.1=M5. Polarity and direction of the motors can be reversed by PortC.3. PORTA.7 is connected to LED, 4x1 KBD on PortA.0 to A.3 , RTC PD0=SCL, PD1=SDA, 16 x 2 LCD on Port C.0 to C.7 (4-bit mode), Sensor = ADC0, HALL = INT4(PE4), ADC Connector = ADC1-ADC5, Opto connector = INT5, INT6, INT7. Diode bridge rectifier for B1 = +5V supply for the controller board regulated using 7805. b. Driver Section: Diode bridge rectifier for B2 = +3.3V, B3 = - 3.3V, and B4 = 12V, DPDT SW (SW-MA) is to Change the PC Mode and Manual Keyboard Mode, M1- M5 connectors are to connect DC motors of robotic arm. 8-Pin header is to connect Manual Keyboard. R_PW: to connect Battery and R_GND connector is for Battery GND, R_LED is to connect search light. Opt coupler P+_ is to drive the relay to change the polarity of the supply so that all the motors direction can be changed which is connected to Port C.3. When Portc.3= 0 relay will be ON and the power is + 3.3v. Similarly When Portc.3= 1 relay will be OFF and the power is - 3.3v. Opt coupler M.1 is connected to Motor M1 and PortB.0 of controller, when PortB.0=0 relay and Motor-1will be ON. Similarly Opt coupler M.2, M.3, M.4, M.5 connected to PortB.1 to PortB.4. This system consists of optical DC drive with MOSFET Q3 IRF Z 48 connected on Opt couple DC_PN on PortB.5. The speed of the motor can be changed by generating PWM signal on PortB.5. Opt couple DC_P is connected to PortB.6 to supply positive and Opt couple DC_N is connected to PortB.7 to supply negative polarity.

Freedom of Axis: Motor-M1:Gripper open and close 0 to 1.77 inches

Motor-M2: Wrist motion: 120 degrees

Motor-M3: Elbow range 300 degree

Motor-M4:Vertical reach: 15 inches

Motor-M5: Horizontal reach: 12.6 inches

Search Light:

Lifting capacity: 100 grams

Finished Product:

Operation: All the five gear boxes equipped with safety gear, when the arm open, close, up or lower to the maximum position, and user keeps pushing the buttons, the safety gear will start to work to protect and make

“da,da,da …….sound”.

To extend the life of gearbox, release the buttons once you hear the safety gear emit

“da,da,da …….sound”.

Precautions: 1. Ensure all wiring are correct, especially Battery polarity & GND. 2. If the Robotic arm moves wrong direction, please check if wiring of M1, M2, M3, M4 and M5 are reversed. 3. If the searchlight does not light, please check if the polarity is correct. 4. Insert the batteries with the correct polarity. 5. After use, be sure to remove the batteries.

Working area:

Microcontroller & PC Interface:

Power Supply & Driver Circuit:

PCB Component Placement:

5DOF Robotic arm assembly:

3DOF Rover assembly:

….Robotic Arm Control Using MATLAB GUI…. The aim of this program is to control the robotic arm from MATLAB GUI. For this purpose we have used a serial com port or USB port as a communicating port between the computer and the microcontroller, controlling the robotic arm. A GUI is developed in MATLAB which gives various types of buttons and displays from which a robotic arm can be monitored. The GUI used is as follows.

Procedure  From device manager of Windows Operating system find out Virtual COM port number  Enter proper COM port number on which your Robotic Arm is connected.  Then press any of the key shown in the GUI. It will produce corresponding output on the robotic arm.

NOTE: Before running a GUI program please execute the following command on the MATLAB Command Window. set(instrfindall,'ObjectVisibility','on'); This is done in case of USB connection when serial port is not present in the computer.

EXAMPLE: MATLAB CODE: functionvarargout = DEMO(varargin) % DEMO MATLAB code for DEMO.fig % DEMO, by itself, creates a new DEMO or raises the existing % singleton*. % % H = DEMO returns the handle to a new DEMO or the handle to % the existing singleton*. % % DEMO('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in DEMO.M with the given input arguments. % % DEMO('Property','Value',...) creates a new DEMO or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before DEMO_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to DEMO_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help DEMO % Last Modified by GUIDE v2.5 12-Jan-2015 16:52:00 % Begin initialization code - DO NOT EDIT gui_Singleton = 1;

gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @DEMO_OpeningFcn, ... 'gui_OutputFcn', @DEMO_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); ifnargin&&ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end ifnargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT

% --- Executes just before DEMO is made visible. functionDEMO_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to DEMO (see VARARGIN) % Choose default command line output for DEMO handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes DEMO wait for user response (see UIRESUME) % uiwait(handles.figure1);

% --- Outputs from this function are returned to the command line. functionvarargout = DEMO_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output;

function edit1_Callback(hObject, eventdata, handles) % hObject handle to edit1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of edit1 as text % str2double(get(hObject,'String')) returns contents of edit1 as a double

% --- Executes during object creation, after setting all properties. function edit1_CreateFcn(hObject, eventdata, handles) % hObject handle to edit1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. ifispc&&isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end

% --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure wit handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'A'); fclose(s); % --- Executes on button press in pushbutton3. function pushbutton3_Callback(hObject, eventdata, handles) % hObject handle to pushbutton3 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'B'); fclose(s);

% --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) % hObject handle to pushbutton2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'C'); fclose(s);

% --- Executes on button press in pushbutton6. function pushbutton6_Callback(hObject, eventdata, handles) % hObject handle to pushbutton6 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String');

s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'D'); fclose(s);

% --- Executes on button press in pushbutton7. function pushbutton7_Callback(hObject, eventdata, handles) % hObject handle to pushbutton7 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'E'); fclose(s); % --- Executes on button press in pushbutton8. function pushbutton8_Callback(hObject, eventdata, handles) % hObject handle to pushbutton8 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'F'); fclose(s);

% --- Executes on button press in pushbutton4. function pushbutton4_Callback(hObject, eventdata, handles) % hObject handle to pushbutton4 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'G'); fclose(s);

% --- Executes on button press in pushbutton5. function pushbutton5_Callback(hObject, eventdata, handles) % hObject handle to pushbutton5 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) a=get(handles.edit1,'String'); s=serial(a,'BaudRate',9600); set(s,'ObjectVisibility','on'); fopen(s); fprintf(s,'H'); fclose(s);

AVR Atmega128 CODE:

#include #include char ReceivedByte; // Alphanumeric LCD Module functions #include #ifndef RXB8 #define RXB8 1 #endif #ifndef TXB8 #define TXB8 0 #endif #ifndef UPE #define UPE 2 #endif #ifndef DOR #define DOR 3 #endif #ifndef FE #define FE 4 #endif #ifndef UDRE #define UDRE 5 #endif #ifndef RXC #define RXC 7 #endif #define #define #define #define #define

FRAMING_ERROR (1