LIST OF FIGURE
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2.1 Different type of antenna for Zigbee
9 2.2
Zigbee star topology 10
2.3 Zigbee mesh topology
11 2.4
2.5 Zigbee cluster tree topology
System Data Flow Diagram in a UART 11
16 2.6
UART data packet 17
2.7 Arduino Uno Software
20 2.8
Configuration Test Utility Software X – CTU
21 2.9
Microsoft Visual Basic 2010 Express 22
3.1 Flow chart of whole project 25
3.2 Overall process of the wireless system of robotic arm 26
3.3 Robot Arm Model
26 3.4 Block Diagram wireless system of robotic arm
27 3.5
XBee Explorer USB 28
3.6 Correct way Plug in Xbee
– PRO S1 29
3.7 Initialize X
– CTU 29
3.8 Add a radio module
30 3.9
Configuration Xbee 30
3.10 Configuration settings of Zigbee 31
3.11 Switch to consoles 32
3.12 Configuring Networks
33 3.13
XBee 1‟s configuration tab after writing the changes 35
3.14 System overview for SKXbee
36 3.15
Layout of SKXbee 36
3.16 Connect USB cable 39
3.17 PC Settings
40 3.18
Syntax command 40
3.19 Destinations Address
41 3.20
Board layout XBee Shield 43
3.21 Arduino Uno
45 3.22
Arduino platform 47
3.23 Connection USB cable
48 3.24
Found New Hardware 49
3.25 Found New Hardware Wizard
49 3.26
Specific location 49
3.27 Browse Folder Drivers
50 3.28
Hardware Installation 50
3.29 Completing Hardware Wizard
51 3.30
Device Manager 51
3.31 Arduino.exe File
52 3.32
Arduino IDE 52
3.33 Tools
53 3.34
Serial Port 53
3.35 Coding for microcontroller Arduino UNO
54 3.36
Visual Basic implementation 55
4.1 windows interface control robot
57 4.2
Com Port 57
4.3 Serial connected
58 4.4
Output Base Turn Left 58
4.5 Label on each element in Visual Basic interface
59 4.6
Label of each component on designed product 61
4.7 Initial position for robotic arm
62 4.8
Robot move to the right and gripped the sample 63
4.9 Robot move to the left while gripping the sample
63 4.10
Clips open the gripper and released the sample in the box 63
LIST OF APPENDIX
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A MICROCONTROLLER SOURCE CODE
72 B
VISUAL BASIC SOURCE CODE 80
LIST OF ABBREVIATIONS
PC -
Personal Computer CLK
- Clock
UART -
Universal Asynchronous ReceiverTransmitter USB
- Universal Serial Bus
EEPROM - Electricity Erasable Programmable Read-Only
Memory DC
- Direct Current
MHz -
Mega hertz CPU
- Central Processing Unit
PWM -
Pulse Width Modulation PCB
- Printed Circuit Board
IO -
Input Output IDE
- Integrated Development Environment
WLAN -
Wireless Local Area Network ADC
- Analog Digital Converter
GUI -
Graphical User Interface COM
- Component Object Model
RAM -
Random Access Memory ROM
- Read Only Memory
RF -
Radio Frequency VB
- Visual Basic
IFR -
International Federal of Robotics DOF
- Degree of Freedom
CTU -
Configuration Test Utility Software UHF
- Ultra High Frequency
EPROM -
Erasable Programmable Read-Only Memory PROM
- Programmable Read-Only Memory
SRAM -
Static Random Access Memory AVR
- Atmel Voltage Regulator
TCPIP -
Transmission Control ProtocolInternet Protocol LED
- Light Emitting Diodes
PAN -
Personal Area Network SKXBee
- Starter Kit XBee
TTL -
Transistor –transistor logic
GND -
Ground RX
- Receive Signal
TX -
Transmit Signal RST
- Reset Pin XBee
COM -
Component Object Model AT
- Command Mode
WR -
Write CT
- Command Mode Timeout
RSSI -
Received Signal Strength Indicator ICSP
- In-Circuit Serial Programming
VIN -
Voltage input FDTI
- Future Technology Devices International
CHAPTER 1
INTRODUCTION
1.1 Background
