REPORT2

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ADVANCED ROBOTIC PICK AND PLACE
Table of Contents
ABSTRACT..............................................................................................................................................................................3
CHAPTER ONE.....................................................................................................................................................................4
INTRODUCTION.............................................................................................................................................................4
PROBLEM STATEMENT...............................................................................................................................................4
HYPOTHESIS....................................................................................................................................................................5
MATERIALS.......................................................................................................................................................................5
1. COMPONENTS:...............................................................................................................................................5
2. PROGRAMMING LANGUAGE:..................................................................................................................7
3. SOFTWARE:........................................................................................................................................................8
LITERATURE REVIEW...................................................................................................................................................8
INTRODUCTION........................................................................................................................................................8
PCDUINO......................................................................................................................................................................8
PIC16F627A.................................................................................................................................................................9
ROBOTIC ARM...........................................................................................................................................................9
ROBOTIC ARM GRIPPER.....................................................................................................................................10
ROBOT PROGRAMMING....................................................................................................................................10
APPROACHES...........................................................................................................................................................11
CHAPTER OUTLINE.....................................................................................................................................................11
DESIGN:.......................................................................................................................................................................11
SIMULATION:............................................................................................................................................................12
RESULTS & INTERPRETATION:.........................................................................................................................12
CHAPTER TWO..................................................................................................................................................................12
DESIGN.............................................................................................................................................................................12
CIRCUIT DIAGRAM:...............................................................................................................................................12
BLOCK DIAGRAM:..................................................................................................................................................14
COMMUNICATION FLOW:................................................................................................................................15
CHAPTER THREE...............................................................................................................................................................16
SIMULATIONS...............................................................................................................................................................16
CHAPTER FOUR.................................................................................................................................................................16

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RESULT AND INTERPRETATION...........................................................................................................................16
CONCLUSION....................................................................................................................................................................17
SUMMARY......................................................................................................................................................................17
ACHIEVEMENT..............................................................................................................................................................18
CONTRIBUTION...........................................................................................................................................................18
REFERENCES.......................................................................................................................................................................18
APPENDIX............................................................................................................................................................................19
C CODE FOR MICROCONTROLLER....................................................................................................................19

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ABSTRACT
This project presents the advanced robotic pick and place arm that uses dc motors to drive
arms, a microcontroller to control the movement of the arm and a web application to allow the
user to interface with the robotic arm. This arm robot is used to move an object from one
location to another via the web application.
Robot is an integral part in automating the flexible manufacturing system that one greatly in
demand these days. Robots are now seen more than machines; “they have become the solution
of the future as cost labor wages and customers’ demand. (MOHAMED NAUFAL BIN OMAR,
2007)”.
Two main controllers are used in this project. One is called the pcduino; it is the one responsible
for hosting our web application which is used by the user in order to control the robot arm and
send digital signals to the second controller.
The second one is the microcontroller pic16f627A which receives signal from the pcduino and
executes proper commands to drive the arm to perform the user’s request.
The design of this project was broken into two main parts which was the software and
hardware. The software part consisted of writing code for the web application and the
microcontroller (PIC16F627A).
The hardware part consisted of building a circuit with motor bridge to read signal coming out
from pcduino; translates the signal in the microcontroller and then send commands to the dc
motors.
The dc motors are controlled by the microcontroller by making use of the pulse width
modulation (PWM) which is a method used by many microcontrollers to generate analog
through digital pins. This method contributed in controlling the speed of the motors located in
the robot arm joints.

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CHAPTER ONE
INTRODUCTION
Robots are playing vital roles in automating the flexible manufacturing system that is in a high
demand. Manufacturers have made robots more than machines because they are become the
solution of the future as cost labor wages and customers’ demand.
Due to the incapacity of the human to satisfy the demands, research and development of future
robots is moving at very rapid pace due to the constantly improving and upgrading of the
quality standards of products.
Robots replaced human to perform routine tasks which were dangerous and dull. So this
decision in the world of advanced technology today helps the automation to increase
production capability, product quality and lower production cost.
This project is called advanced robotic pick and place arm which consist of controlling the
hardware arm robot via software. This project describes the design and implementation of a
robotic arm that is capable to pick an object through the gripper that is attached to it and place
the object accordingly to the coordinated places.
The system design was divided into two parts: the web application and the microcontroller
circuit. The web application is hosted on the pcduino which is a mini pc which has an arduino
emulator and the microcontroller which controls the motor bridge to drive the motors on the
arm.
The pcduino and the pic16f27a will have a bi-directional communication in order to exchange
data for proper functioning.
This project brings light in the industrial, automotive manufacturing to understand the concept
behind the arm robot, it is going to help student who desire to build automatic robot
understand the components and process needed. The movement of the robotic arm will be
discussed in the later stage.
PROBLEM STATEMENT

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The main intention of this project was to design and implement a 5 degree of freedom revolute
type robot arm that to picks an object and places it to the users’ desired position.
The user interfaces with the robotic through a web application which plays the role of human
interface machine.
HYPOTHESIS
 Red is on when user is not logged in or when user logs off.
 Green led is on when the user logs in the system for operations.
 The robot arm moves up when the up button is pressed.
 The robot arm stops moving when the stop button is pressed.
 The robot base moves left when the left button is pressed and continue moving until
another button is pressed.
MATERIALS
1. COMPONENTS:
The advanced robotic pick and place arm robot has some major components to be used in
during the implementation phase.
This section includes the detailed specification of the components needed for this project.
a. PCDUINO: is a mini pc platform that runs PC like OS such as Ubuntu and Android
ICS. It outputs screen to HDMI. Moreover, it has hardware headers interface compatible
with Arduino.

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b. PIC16F627A: It is the main microcontroller to control our robotic arm; it is
powerful (250 nanosecond instruction execution) with 35 single word instructions,
CMOS FLASH-based 8-bit microcontroller. The pic16f627a features 256 bytes of
EEPROM data memory, self-programming, an ICD, 2 comparators, 1
capture/compare/PWM functions, the synchronous serial port can be configured as
either 3-wire serial peripheral interface (SPI) or the 2-wire inter-integrated circuit(I2C)
bus and a Universal Asynchronous receiver Transmitter (USART).
c. Motor Bridge L298:
This is the main component of controlling the dc motors placed on the joints of the arm
robot. This motor bridge input the pulse width modulation and output signal needed to
control the motor.
The motor bridge operates up to 46 volt.
d. Robotic Arm: is a type of mechanical arm, usually programmable, with similar
functions to a human arm; the arm may be the sum total of the mechanism or may be
part of a more complex robot.

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2. PROGRAMMING LANGUAGE:
a. C Language: This language is chosen based on my knowledge. I have wide
experience in this language and it is simple to write large program. This
language is going to be the main programming language for the pic16f877a
microcontroller which will control the movement of the robotic arm.

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b. HTML: Hypertext markup language is a client-side language used to create
web interface. To have a nice looking application for our arm robotic, this
language is going to be used for the design.
c. PHP: It is the server-side language to create communication between our
web server and the client-side, as well as the external headers of our
pcduino.
d. JavaScript: This language is not to confuse with java language, java script
(js) is a client-side language used to create some behavior for the web pages
or application. In this case, many behaviors will be derived from this
language.
3. SOFTWARE:
 MPLAB V8: This is the software that is needed to write the c code
required to program the microcontroller. This tool allows me to
simulate my code and perform some test before loading it onto
the pic16f627a.
 EP28:This software is used to load the program into the pic.
LITERATURE REVIEW
INTRODUCTION
Based on the Wikipedia definition of literature review which sees this part as” a body of text
that aims to review the critical points of current knowledge on a particular topic”, this chapter
brings light on all the questions asked on different chapters above. This chapter will state all
the thesis and research that are reviewed to get the full understanding of this advanced robotic
pick and place arm.
PCDUINO
The pcduino is a mini pc with ability to handle hardware like the arduino board. This mini pc
can operating system such Ubuntu or android. The pcduino can have a web server running in
it, and can also be used as a microcontroller as the arduino behave.

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There is a similar board which operates as the pcduino, it is called raspberry pi. Our choice
remains on the pcduino because it offers much better features than the raspberry pi.
This device is simple to use and makes communication between pc operating system and
external hardware very easy to compare to our normal pc which requires serial port or usb to
interface with external devices. It has the ability to connect to the network and internet without
any complication.
These advantages make our work very interested because users of this system will need to
access the network in order to access the system. The pcduino allows program to written in
different programming language that we need. E.g. C, C++, Java, ruby, python, etc…
PIC16F627A
The goal of our project is to design the advanced robotic pick and place arm that picks an
object and choose willingly where to place depending on the user’s choice using the
microcontroller PIC16F627A. Throughout this project, our focus will strongly remain on
studying how this microcontroller I/O signals can be compatible with the dc motors of the arm
robot and run some test to verify if the robot’s motors respond accordingly with the code
running in the microcontroller PIC16F627A.
The c language programming is used to write an appropriate program for this microcontroller
platform that receives signals coming from the pcduino to the robot’s motor signals and
controls the robot operation programmatically.
ROBOTIC ARM
Robot arm is a type of mechanical arm, with a programmable abilities and similar functions
with human arm. There are various types of robots used in the industry and there is a
dependence based on their range, working capacity and reach. Cartesian robot is used for pick
and place work, plotting and handling arc welding.
There is also the cylindrical robot that is used for the above mentioned working categories that
does the operations more precisely and accurately because it operates in a cylindrical co-
ordinate system.

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The spherical robot works on the polar coordinate system, and SCARA robot is mainly used for
pick and place work. SCARA has to parallel rotary joints to provide flexibility in a plane.
There is also the three dimensional reach that is usually combined with other mechanisms,
articulated robot that has three rotary joints.
ROBOTIC ARM GRIPPER
The gripper is an end-of-arm device often used in handling applications. The gripper is
considered as a device that is capable of generating enough grip force to pick an object while
the other of part of the robot performs a task on the part such a pick and place operation.
There are some compulsory activities needed for the gripper in the operation, the gripper
should be able to open and close with a prescribed amount of force. The most commonly used
grippers are finger grippers. They have 2 or 3 opposing fingers like a lathe chuck.
Two finger grippers can be further split into parallel motion or angular motion fingers.
The angular jaw gripper work in such way it opens and closes around a central pivot, moving in
an arcing motion.
ROBOT PROGRAMMING
This robot system can be broken into two software programs with three layers.
The first layer is the lower-most layer which consists of controlling the hardware robot. This
layer has a sole purpose of controlling the dc motors which create a movement on the pick and
place arm robot joints.
Another layer is placed on top of the others, which provides human-machine interaction. This
layer has a web application hosted on the pcduino which converts users’ action into digital
signal capable of being captured by the pic for further translation.
The program used in this layer can be categorised in two:
1. Interface : HTML, CSS, JavaScript and Ajax
2. Behaviour: PHP, MySQL.
This top layer scans the user action and convert the action into digital signal which the
microcontroller understand and can easily translate.
The middle layer is the one that does the conversion the signal coming from the pcduino and
translate it into understandable commands for the pic.

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APPROACHES
Many robotic pick and place arm projects have been done with different approaches. This
section focuses on discussing different approaches used to design arm robot and contrasts with
the approach used in this project.
Many have used the microcontroller as the main controller and with buttons to control the
movements of the robot arm. This is considered as the traditional approaches whereby users
press buttons to move the arm robot accordingly.
This approach becomes very dangerous because the user will have to stand physically in front
of the robot because of the nature of the control.
This project makes use of the web application hosted on the pcduino, and using the wireless
network to share the connection. The reason of my choice is to secure the users of the arm
robot. This approach does not require the user to be in the same physical location with the
robot.
This approach secures the environment and let the robot perform its function safely and
without any interaction.
CHAPTER OUTLINE
DESIGN:
1. CIRCUIT DIAGRAM:
This section is reserved to the circuit diagram needed to achieve this project
successfully.
a. Motor H- bridge: Circuit needed to build a motor bridge to the direction of dc
motors.
b. Microcontroller: This section underlines how the microcontroller is connected to
achieve this project.
2. BLOCK DIAGRAM:

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This section consists of representing the whole project with blocks to show the
interconnection between elements.
3. COMMUNICATION FLOW:
Many components are used in this project, so this section demonstrates how
components communicate to produce this project.
SIMULATION:
This section focuses on the analysis of the input and output of the robot. What type of input is
requested to drive the arm robot?
This section will explain the type of inputs, and how the microcontroller processes the inputs
received from the pcduino and execute the commands linked to the input.
After explain the input section, there are steps that explain how data are processed to generate
output.
RESULTS & INTERPRETATION:
This previous section focused on the inputs and processes required to generate output. So this
section explains how outputs are converted into useful commands that will move the arm
robotic to execute the users’ intention.
CHAPTER TWO
DESIGN
CIRCUIT DIAGRAM:
Diagram representing the whole circuit needed to achieve this project.
L298N H BRIDGE FOR DRIVING MOTORS BI-DIRECTIONAL

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L298 CONNECTED TO MOTORS

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BLOCK DIAGRAM:
M1
Web application Interface
Pcduino
PIC16F627A L298N
M5

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COMMUNICATION FLOW:

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CHAPTER THREE
SIMULATIONS
CHAPTER FOUR
RESULT AND INTERPRETATION
With all the necessary connections given, the system is made active only when the user has
successfully logged in the operation page.
The microcontroller begins to wait for instruction coming from the web application through
the pcduino ports. In the default case the microcontroller pins connected to the pcduino are
at logic 0 (RA2-RA5).
The pin 7 of the pcduino is at logic 1 which switches on the red led on to notify the user
that he is not logged in the operations mode. After the user has successfully logged in, the
red led goes off and the green one goes on.

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The green led remains on as long as the user still in the operations mode and only goes off
after he has logged out.
The motors of the arm robot are connected to 10 pins of the microcontroller to execute the
instructions coming from the pcduino.
RA5 RA4 RA3 RA2 PORT ACTION DESCRIPTION
0 0 0 0 CLEAR STOP
0 0 0 1 RB0 WMU Move Wrist Upward
0 0 1 0 RB1 WMD Move Wrist Downward
0 0 1 1 RB4 EMU Move Elbow Upward
0 1 0 0 RB5 EMD Move Elbow Downward
0 1 0 1 RB6 UP Move Base Upward
0 1 1 0 RB7 DOWN Move Base Downward
0 1 1 1 RA6 LEFT Move Base left
1 0 0 0 RA7 RIGHT Move Base right
1 0 0 1 RA0 GO Open gripper
1 0 1 0 RA1 GC Close gripper
1 0 1 1
1 1 0 0
1 1 0 1
1 1 1 0
1 1 1 1
Here is the table describing the expected result.
CONCLUSION
SUMMARY
This project is a combination of electronic, electrical and programming knowledge which
consist of assembling the robot arm parts to form a nice architectural designed arm, building a
complete and useful circuit for the microcontroller and other components needed to drive the
signal to the motors; and programming the microcontroller following the goal and specification
and a user interface to make the system more easier to use.

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ACHIEVEMENT
1. Successfully complete this project in the proposed time.
2. Design and implement this project with cheap resources to achieve the cost-
efficiency.
3. Fully achieved the goal of building a robot which is able to pick an object and place it
to the desire location of the user.
4. Designed a web application which allows users to log in and interface with the
machine remotely.
5. Control the robot arm via web application and pick and hold the object through the
gripper
6. Learn how to assemble mechanical robot arm
CONTRIBUTION
This project contributed in understanding the steps required to assemble an arm robot and
process required to control a machine. This project contributes on the handling of bottles, cases
in breweries, car manufacturing industries.
Many industries use similar arm robot in handling the assembling of car parts, electronic
devices and also in car pound yard.
This project contributes in acquiring a bachelor in technology.
REFERENCES
 KHAIRUL AFIKH BIN ROSLAN,2009, Pick and place robot(Robotic Arm)
 ALEX M.FELKER, Design and implementation of an Automated Pick and Place system
for johanson Technology, Inc.
 AHMADI, REZA, AND JOHN MAMER, 1999, Routing Heuristics for automated pick
and Place Machines. “European Journal Of operational research,117.3 : 533-552”
 P.S.RAMAIAH,M.VENKATESWARA RAO, G.V.SATYANARAYANA,2011 “A
Microcontroller Based Four Fingered Robotic Hand”- International Journal of Artificial
Intelligence & Applications (IJAIA), Vol.2, No.2, April 2011
 C.BLANES, M. MELLADO, C.ORTIZ AND A.VALERA “Review. Technologies for robot
grippers in pick and place operations for fresh fruits and vegetables”ISSN:1695-971X
 PIC16F627A, Data Sheet: http://www.microchip.com.
 MIN TAN., “An Analysis of the Inverse Kinematics for a 5-DOF

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Manipulator,” International Journal of Automation and Computing 2, China, 2005
 BASIL HAMED., “Mimicking Human Arm with 5 DOF Controlled by
LabVIEW,” IACSIT International Journal of Engineering and Technology,
Vol.3, No.1, February 2011.
APPENDIX
 The web application code are saved in the cd, please refer to that for the codes. (PHP,
HTML, JavaScript codes for web application)
C CODE FOR MICROCONTROLLER
#include <htc.h>
int speed=24;
void PWMSetup(void)
{
PR2 =0b00110001;
T2CON =0b00000100;
CCP1CON=0b00111100;
TMR2ON=1;
}
void main(void)
{
CMCON=7;
TRISB=0;
PORTB=0;
TRISA=0x3c;
PWMSetup();
CCPR1L=speed;
while(1)
{
CCPR1L=speed;
if(RA5==0 && RA4==0 && RA3==0 && RA2==0)
{

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PORTB=0;
PORTA=0;
}
else if(RA5==0 && RA4==0 && RA3==0 && RA2==1)
{
RB0=RB3;
RB1=0;
RB4=0;RB5=0;RB6=0;RB7=0;RA0=0;RA1=0;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==0 && RA3==1 && RA2==0)
{
RB4=0;RB5=0;RB6=0;RB7=0;RA0=0;RA1=0;
RB0=0;RB1=RB3;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==0 && RA3==1 && RA2==1)
{
RA0=0;RA1=0;
RB4=RB3;RB5=0;
RB0=0;RB1=0;RB6=0;RB7=0;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==1 && RA3==0 && RA2==0)
{
RA0=0;RA1=0;
RB4=0;RB5=RB3;
RB0=0;RB1=0;RB6=0;RB7=0;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==1 && RA3==0 && RA2==1)
{
RA0=0;RA1=0;
RB6=RB3;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==1 && RA3==1 && RA2==0)
{
RA0=0;RA1=0;
RB6=0;RB7=RB3;
RB0=0;RB1=0;RB4=0;RB5=0;
RA6=0;RA7=0;
}
else if(RA5==0 && RA4==1 && RA3==1 && RA2==1)
{

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RA0=0;RA1=0;
RA6=RB3;RA7=0;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
}
else if(RA5==1 && RA4==0 && RA3==0 && RA2==0)
{
RA0=0;RA1=0;
RA6=0;RA7=RB3;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
}
else if(RA5==1 && RA4==0 && RA3==0 && RA2==1)
{
RA0=0;RA1=RB3;
RA6=0;RA7=0;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
}
else if(RA5==1 && RA4==0 && RA3==1 && RA2==0)
{
RA0=RB3;RA1=0;
RA6=0;RA7=0;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
}
else if(RA5==1 && RA4==0 && RA3==1 && RA2==1)
{
RA0=0;RA1=0;
RA6=0;RA7=0;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
if(CCPR1L
>=49){CCPR1L=49;}else{CCPR1L+=5;}
while(RA5==1 && RA4==0 && RA3==1 &&
RA2==1){}
}
else if(RA5==1 && RA4==1 && RA3==0 && RA2==0)
{
RA0=0;RA1=0;
RA6=0;RA7=0;
RB6=0;RB7=0;
RB0=0;RB1=0;RB4=0;RB5=0;
CCPR1L-=5;

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if(CCPR1L < 10){CCPR1L=10;}else{CCPR1L-
=5;}
while(RA5==1 && RA4==1 && RA3==0 &&
RA2==0){}
}
}
}

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