Pick And Place Mobile Robot Control With PC.
VI
ABSTRAK
Projek ini adalah bertujuan untuk merekabentuk dan membina sebuah robot yang
berfungsi untuk mengangkat objek dari sesuatu tempat ke tempat yang lain. Robot ini
dikawal sepenuhnya dengan menggunakan program "Visual Basic 6.0" di mana robot ini
akan berhubung dengan komputer sebagai pengkalan data (Data Base), dan pengguna
hanya perlu menggunakan papan kekunci/tetikus (keyboard/mouse) pada komputer untuk
mengawal pergerakan robot tersebut. Selain itu, robot ini juga dipasang sebuah "TV
sender" untuk memaparkan paparan sekeliling dan ini akan memudahkan lagi pergerakan
robot tersebut. Paparan pergerakan robot ini dapat dilihat melalui skrin monitor komputer
yang digunakan. "TV sender" ini juga dapat memaparkan paparan yang lebih meluas dan
menyeluruh kerana ia dapat berpusing sebanyak 360° dari kiri ke kanan dan sebaliknya.
Projek ini bertujuan bagi memudahkan lagi kerja mengangkat sesuatu objek dari satu
tempat ke tempat yang lain hanya dengan menggunakan komputer.
VII
ABSTRACT
The purpose of this project is to design and construct a robot which has a function
to pick and place any object. This robot is controlled by using visual basic 6.0 that is
connected to computer as its database and user use keyboard to control the movement of
that robot. Otherwise, this robot also have TV sender to display environment view and it
can make the movement of robot become simple. The movement of the robot will be
displayed on computer screen. TV sender also can display more wider and whole view
because it can rotate until 360° from left to right and vice versa. This project is design to
facilitate the user in dealing with the work that involved the pick and place only by using
the computer.
viii
CONTENTS
CHAPTER
TITLE
PAGE
TITLE
Chapter I
Chapter II
DECLARATION
ii
DEDICATION
iv
ACKNOWLEDGEMENTS
v
ABSTRAK
vi
ABSTRACT
vii
CONTENTS
viii
LIST OF FIGURES
xi
LIST OF TABLES
xiii
LIST OF APPENDICES
xiv
INTRODUCTION
1
1.1
Introduction
1.2
Project objectives
2
1.3
Project problem
2
1.4
Scope of project
3
1.5
Methodology
3
1.6
Scope of thesis
4
LITERATURE REVIEW
5
2.0
Introduction
5
2.1
Studying from mobile robot system
6
ix
2.2
Robot platform selection
7
2.3
H-Bridge circuit
7
2.4
Stepper motor
9
Fundamental of operation
10
2.4.2
Rotation of stepper motor
11
2.5
Wireless camera
13
2.6
Power and batteries
14
2.7
Parallel port
15
2.7.1
Parallel pot background
15
2.7.2
Parallel port overview
15
2.7.3
Connection of Parallel port
18
2.7.4
How the signal is send through to the parallel port
19
2.8
Chapter III
2.4.1
Visual Basic 6.0
20
2.8.1
Theory on visual basic 6.0
20
2.8.2
Visual basic 6.0 program
22
2.8.3
If/Else/Then instruction
23
METHODOLOGY
25
3.0
Introduction
25
3.1
Project methodology flow chart
26
3.2
Explanation about the project methodology flow chart
27
3.2.1
Literature study
27
3.2.2
Circuit design
27
3.2.2.1 Power supply +5V
28
3.2.2.2 Transmitter circuit
29
3.2.2.3 Receiver circuit
31
3.2.2.4 Relay controlling circuit
32
3.2.3
Simulation
38
3.2.4
Etching process
38
X
3.2.5
Soldering process
39
3.2.6
Testing circuit
39
3.2.6.1 Receiver and transmitter circuit testing
40
Troubleshooting
41
3.2.7
3.3
3.4
Chapter IV
Chapter V
Mechanical design
41
3.3.1
44
Component selection
Software development
46
3.4.1
Programming in visual basic 6.0
46
3.4.2
Vidcap software
47
RESULT AND ANALYSIS
48
4.0
Introduction
48
4.1
Software result
49
4.2
Final hardware result
51
4.3
Camera testing
52
4.4
Transmitter and receiver testing
55
DISCUSSION AND CONCLUSION
56
5.1
Discussion
56
5.2
Conclusion
57
5.3
Recommendation
58
REFERENCES
59
APPENDICES
60
Appendix A - F
61-83
XI
LIST OF FIGURES
PAGE
NO
TITLE
2.1
Pick and place mobile robot
6
2.2
Mobile robot selected
7
2.3
Structure ofH-Bridge circuit
8
2.4
Two basic stage of the H-Bridge circuit
8
2.5
Stepper motor
lO
2.6
Rotation of stepper motor
11
2.7
Wireless camera
13
2.8
Parallel port (female) Pin
16
2.9
Visual basic start up screen
21
2.10
If/Else/Then flowchart
24
3.1
Project methodology flow chart
26
3.2
IC LM7805
28
3.3
Schematic circuit of +5V power supply
28
3.4
Transmitter circuit
30
3.5
Transmitter TX-2B block diagram
30
3.6
Receiver circuit
31
3.7
Receiver RX-2B block diagram
32
3.8
Schematic Circuit of relay
32
3.9
Transistor test circuit
34
3.10
Schematic of relay
35
3.11
Circuit for receiving the parallel port signal
37
3.12
PCB layout using PCD design software
38
XII
1.11
Circuit after soldering process
39
1.14
CMOS LSis Test circuit
40
1.15
Block diagram for transmitter and receiver testing circuit
40
1.16
Top view mechanical design
41
.1.17
Side view Mechanical design
42
.LI8
Front view mechanical design
42
3.19
Back view mechanical design
43
3.20
Controller GUI
47
4.1
Menu for control mobile robot
49
4.2
Menu for display image
50
4.3
Final hardware result
51
4.4
Picture position house
53
4.5
House plan for testing camera
54
xiii
LIST OF TABLES
NO
TITLE
2.1
Parallel port's pins use
17
2.2
Parallel port data pins binary value
19
3.1
Specification ofthe DC motor
44
3.2
Component and material used
45
4.1
Camera JMK wireless test result
53
4.2
Transmitter and receiver test result
56
PAGE
XIV
LIST OF APPENDICES
APPENDIX TITLE
PAGE
A
Programming Coding camera
61
B
Programming Coding parallel port
63
c
Data sheet toy car remote controller
68
D
Simple Printer Port Interface Circuit
77
E
Data sheet Diode IN4002
79
F
Data sheet Transistor NPN 2N2222A
81
CHAPTER I
1.1
Introduction
Robotics
are
becoming
widely
used
m
the
automation,
medical,
manufacturing industries, also in many science fiction films and many others fields.
Building and programming a robot is a combination of mechanicals, electronics,
programming and also problem solving skills. Nowadays, robots are constructed
tended to be human-like.
The aim of this project is to design and construct a 'Pick and Place Mobile
Robot Control with PC'. This project will be involved both software and hardware
applications. The software that will be used for this project is Visual Basic 6.0 and
the hardware is circuitry that interface the computer and the remote control car.
The project will enable the user to control a remote control car usmg a
computer. The Visual Basic 6.0 is chosen because of its easiness of the usage. The
variety usage of this software are also the reason this software is suitable for this
project.
2
1.2
Project objective
The main objective of this project is to design and develop a mobile robot for
pick and place application. The other objective is to make the robot that can be
controlled wirelessly using PC serial data transmission
Generally, the target can be divided into two parts, robots structural
construction (hardware) and robotic control system construction (software).
The robot control system is designed to control the movement of the robot to
make it feasible to achieve successful and reliable. The main controller for Pick and
Place Mobile Robot is the software controller that built using Visual Basic 6.0 using
the application of serial communication. The construction involves the skills of
attaching components onto circuits, building a graphical user interface (GUI) for the
user or operator that can easily manipulate the robots into a specific movement.
1.3
Project problem
Problem:
a) Difficulty faced by human to pick and place object from one place to
another place.
b) To solve the problem connected to the manpower.
3
1.4
Scope of project
Scope for this project:
a) Use 4 motor for moving left, right, forward and reverse.
b) Visual Basic 'V6.0' programming to program controlling circuit.
c) The computer is used for the data base and user can control it by pressing the
keyboard for control the movement of the mobile robot.
d) TV sender can rotate 360° from left to right and the image can be view at the
monitor.
e) The mobile robot can pick the object (box) with the load weight under 200g.
1.5
Methodology
This project was started by searching the literature reviews from book and
internet regarding robotic system and learns visual basic V6.0 program. A few
circuits and process that found have to study first to make sure the entire project
successful.
The required circuit must be simulated because the simulation error will
denied this project. If the simulation show the circuit design was incorrect, circuit
will be redesign until the circuit can run smoothly. The circuit will be constructed on
PCB board after etching process done.
The PCB layout needs to be printed onto transparent film. The printed PCB
layout then need to be sticked together with the positive board and then exposed to the
ultra violet (UV) source. The PCB is soaked into developer and ferric chloride to remove
the unwanted cuprum. This process is called etching process.
After the circuit construction is completed, an initial testing will be done. The
multimeter has been used for the testing process.
ABSTRAK
Projek ini adalah bertujuan untuk merekabentuk dan membina sebuah robot yang
berfungsi untuk mengangkat objek dari sesuatu tempat ke tempat yang lain. Robot ini
dikawal sepenuhnya dengan menggunakan program "Visual Basic 6.0" di mana robot ini
akan berhubung dengan komputer sebagai pengkalan data (Data Base), dan pengguna
hanya perlu menggunakan papan kekunci/tetikus (keyboard/mouse) pada komputer untuk
mengawal pergerakan robot tersebut. Selain itu, robot ini juga dipasang sebuah "TV
sender" untuk memaparkan paparan sekeliling dan ini akan memudahkan lagi pergerakan
robot tersebut. Paparan pergerakan robot ini dapat dilihat melalui skrin monitor komputer
yang digunakan. "TV sender" ini juga dapat memaparkan paparan yang lebih meluas dan
menyeluruh kerana ia dapat berpusing sebanyak 360° dari kiri ke kanan dan sebaliknya.
Projek ini bertujuan bagi memudahkan lagi kerja mengangkat sesuatu objek dari satu
tempat ke tempat yang lain hanya dengan menggunakan komputer.
VII
ABSTRACT
The purpose of this project is to design and construct a robot which has a function
to pick and place any object. This robot is controlled by using visual basic 6.0 that is
connected to computer as its database and user use keyboard to control the movement of
that robot. Otherwise, this robot also have TV sender to display environment view and it
can make the movement of robot become simple. The movement of the robot will be
displayed on computer screen. TV sender also can display more wider and whole view
because it can rotate until 360° from left to right and vice versa. This project is design to
facilitate the user in dealing with the work that involved the pick and place only by using
the computer.
viii
CONTENTS
CHAPTER
TITLE
PAGE
TITLE
Chapter I
Chapter II
DECLARATION
ii
DEDICATION
iv
ACKNOWLEDGEMENTS
v
ABSTRAK
vi
ABSTRACT
vii
CONTENTS
viii
LIST OF FIGURES
xi
LIST OF TABLES
xiii
LIST OF APPENDICES
xiv
INTRODUCTION
1
1.1
Introduction
1.2
Project objectives
2
1.3
Project problem
2
1.4
Scope of project
3
1.5
Methodology
3
1.6
Scope of thesis
4
LITERATURE REVIEW
5
2.0
Introduction
5
2.1
Studying from mobile robot system
6
ix
2.2
Robot platform selection
7
2.3
H-Bridge circuit
7
2.4
Stepper motor
9
Fundamental of operation
10
2.4.2
Rotation of stepper motor
11
2.5
Wireless camera
13
2.6
Power and batteries
14
2.7
Parallel port
15
2.7.1
Parallel pot background
15
2.7.2
Parallel port overview
15
2.7.3
Connection of Parallel port
18
2.7.4
How the signal is send through to the parallel port
19
2.8
Chapter III
2.4.1
Visual Basic 6.0
20
2.8.1
Theory on visual basic 6.0
20
2.8.2
Visual basic 6.0 program
22
2.8.3
If/Else/Then instruction
23
METHODOLOGY
25
3.0
Introduction
25
3.1
Project methodology flow chart
26
3.2
Explanation about the project methodology flow chart
27
3.2.1
Literature study
27
3.2.2
Circuit design
27
3.2.2.1 Power supply +5V
28
3.2.2.2 Transmitter circuit
29
3.2.2.3 Receiver circuit
31
3.2.2.4 Relay controlling circuit
32
3.2.3
Simulation
38
3.2.4
Etching process
38
X
3.2.5
Soldering process
39
3.2.6
Testing circuit
39
3.2.6.1 Receiver and transmitter circuit testing
40
Troubleshooting
41
3.2.7
3.3
3.4
Chapter IV
Chapter V
Mechanical design
41
3.3.1
44
Component selection
Software development
46
3.4.1
Programming in visual basic 6.0
46
3.4.2
Vidcap software
47
RESULT AND ANALYSIS
48
4.0
Introduction
48
4.1
Software result
49
4.2
Final hardware result
51
4.3
Camera testing
52
4.4
Transmitter and receiver testing
55
DISCUSSION AND CONCLUSION
56
5.1
Discussion
56
5.2
Conclusion
57
5.3
Recommendation
58
REFERENCES
59
APPENDICES
60
Appendix A - F
61-83
XI
LIST OF FIGURES
PAGE
NO
TITLE
2.1
Pick and place mobile robot
6
2.2
Mobile robot selected
7
2.3
Structure ofH-Bridge circuit
8
2.4
Two basic stage of the H-Bridge circuit
8
2.5
Stepper motor
lO
2.6
Rotation of stepper motor
11
2.7
Wireless camera
13
2.8
Parallel port (female) Pin
16
2.9
Visual basic start up screen
21
2.10
If/Else/Then flowchart
24
3.1
Project methodology flow chart
26
3.2
IC LM7805
28
3.3
Schematic circuit of +5V power supply
28
3.4
Transmitter circuit
30
3.5
Transmitter TX-2B block diagram
30
3.6
Receiver circuit
31
3.7
Receiver RX-2B block diagram
32
3.8
Schematic Circuit of relay
32
3.9
Transistor test circuit
34
3.10
Schematic of relay
35
3.11
Circuit for receiving the parallel port signal
37
3.12
PCB layout using PCD design software
38
XII
1.11
Circuit after soldering process
39
1.14
CMOS LSis Test circuit
40
1.15
Block diagram for transmitter and receiver testing circuit
40
1.16
Top view mechanical design
41
.1.17
Side view Mechanical design
42
.LI8
Front view mechanical design
42
3.19
Back view mechanical design
43
3.20
Controller GUI
47
4.1
Menu for control mobile robot
49
4.2
Menu for display image
50
4.3
Final hardware result
51
4.4
Picture position house
53
4.5
House plan for testing camera
54
xiii
LIST OF TABLES
NO
TITLE
2.1
Parallel port's pins use
17
2.2
Parallel port data pins binary value
19
3.1
Specification ofthe DC motor
44
3.2
Component and material used
45
4.1
Camera JMK wireless test result
53
4.2
Transmitter and receiver test result
56
PAGE
XIV
LIST OF APPENDICES
APPENDIX TITLE
PAGE
A
Programming Coding camera
61
B
Programming Coding parallel port
63
c
Data sheet toy car remote controller
68
D
Simple Printer Port Interface Circuit
77
E
Data sheet Diode IN4002
79
F
Data sheet Transistor NPN 2N2222A
81
CHAPTER I
1.1
Introduction
Robotics
are
becoming
widely
used
m
the
automation,
medical,
manufacturing industries, also in many science fiction films and many others fields.
Building and programming a robot is a combination of mechanicals, electronics,
programming and also problem solving skills. Nowadays, robots are constructed
tended to be human-like.
The aim of this project is to design and construct a 'Pick and Place Mobile
Robot Control with PC'. This project will be involved both software and hardware
applications. The software that will be used for this project is Visual Basic 6.0 and
the hardware is circuitry that interface the computer and the remote control car.
The project will enable the user to control a remote control car usmg a
computer. The Visual Basic 6.0 is chosen because of its easiness of the usage. The
variety usage of this software are also the reason this software is suitable for this
project.
2
1.2
Project objective
The main objective of this project is to design and develop a mobile robot for
pick and place application. The other objective is to make the robot that can be
controlled wirelessly using PC serial data transmission
Generally, the target can be divided into two parts, robots structural
construction (hardware) and robotic control system construction (software).
The robot control system is designed to control the movement of the robot to
make it feasible to achieve successful and reliable. The main controller for Pick and
Place Mobile Robot is the software controller that built using Visual Basic 6.0 using
the application of serial communication. The construction involves the skills of
attaching components onto circuits, building a graphical user interface (GUI) for the
user or operator that can easily manipulate the robots into a specific movement.
1.3
Project problem
Problem:
a) Difficulty faced by human to pick and place object from one place to
another place.
b) To solve the problem connected to the manpower.
3
1.4
Scope of project
Scope for this project:
a) Use 4 motor for moving left, right, forward and reverse.
b) Visual Basic 'V6.0' programming to program controlling circuit.
c) The computer is used for the data base and user can control it by pressing the
keyboard for control the movement of the mobile robot.
d) TV sender can rotate 360° from left to right and the image can be view at the
monitor.
e) The mobile robot can pick the object (box) with the load weight under 200g.
1.5
Methodology
This project was started by searching the literature reviews from book and
internet regarding robotic system and learns visual basic V6.0 program. A few
circuits and process that found have to study first to make sure the entire project
successful.
The required circuit must be simulated because the simulation error will
denied this project. If the simulation show the circuit design was incorrect, circuit
will be redesign until the circuit can run smoothly. The circuit will be constructed on
PCB board after etching process done.
The PCB layout needs to be printed onto transparent film. The printed PCB
layout then need to be sticked together with the positive board and then exposed to the
ultra violet (UV) source. The PCB is soaked into developer and ferric chloride to remove
the unwanted cuprum. This process is called etching process.
After the circuit construction is completed, an initial testing will be done. The
multimeter has been used for the testing process.