International Journal of Engineering Trends and Technology (IJETT) – Volume 33 Number 9- March 2016
Wireless Controlled Robotic Arm Designed on
RF-FSK & 8051
Cherryla Tobden1, Karma Gyatsho2, Rinku Bhutia3, Shyam Chhinal4, Aarfin Ashraf5, Deepak Rasaily6
1
Lecturer in Dept. of Electronics & Communication Engineering, CCCT Polytechnic
Lab Instructor in Dept. of Electronics & Communication Engineering, CCCT Polytechnic
4, 6
Sr. Lecturer in Dept. of Electronics & Communication Engineering, CCCT Polytechnic
5
Diploma Student in Dept. of Electronics & Communication Engineering, CCCT Polytechnic
Chisopani, P.O. Nandugaon, South Sikkim, India
2, 3
Abstract: - The Purpose of this project is to control
the robotic arm using rf-fsk technique. The main
design principles used in designing the industrial
uses which are flexible and easily enhanced for
future use. In some industries there is a big problem
where the human person cannot work. Which means
the temperature of the room will be more than
maximum temperature. In order to overcome the
problem which is mentioned above it can be solved
by this project. The robot can work where human
person cannot work and also we can control the arm
of the robot using wireless technique which is
popular now days. The wireless technique used in
our project is rf-fsk.
Keywords: - 8051 Microcontroller, Transmitter
module, Receiver module, Motor.
I. INTRODUCTION
The 89C51 is a low-power, high-performance
CMOS 8-bit microcomputer with 4Kbytes of Flash
programmable and erasable read only memory
(PEROM)[1]. The device is manufactured using
Atmel’s
high-density
non-volatile
memory
technology and is compatible with the industrystandard MCS-51 instruction set and pin out. The
on-chip Flash allows the program memory to be
reprogrammed in-system or by a conventional nonvolatile memory programmer. By combining a
versatile 8-bit CPU with Flash on a monolithic chip,
the 89C51 is a powerful microcomputer which
provides a highly-flexible and cost-effective solution
to many embedded control applications.
The 89C51 provides the following standard
features:[2] 4Kbytes of Flash, 128 bytes of RAM, 32
I/O lines, two 16-bit timer/counters, five vector twolevel interrupt architecture, a full duplex serial port,
and on-chip oscillator and clock circuitry. In
addition, the 8051 is designed with static logic for
operation down to zero frequency and supports two
software selectable power saving modes. The Idle
Mode stops the CPU while allowing the RAM,
timer/counters, serial port and interrupt system to
continue functioning. The Power-down Mode saves
the RAM contents but freezes the oscillator
disabling all other chip functions until the next
hardware reset.
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Some microcontrollers may use four-bit words and
operate at clock rate frequencies as low as 4 kHz, for
low power consumption (single-digit mill watts or
microwatts)[3]. They will generally have the ability
to retain functionality while waiting for an event
such as a button press or other interrupt; power
consumption while sleeping (CPU clock and most
peripherals off) may be just Nano watts, making
many of them well suited for long lasting battery
applications. Other microcontrollers may serve
performance-critical roles, where they may need to
act more like a digital signal processor (DSP), with
higher clock speeds and power consumption.
II. OUR WORK
This project consists of a micro-controller
P89C51RD2, KEYPAD and Motors, The motors are
interfaced with each other forming an arm of a robot
which are further interfaced to a keypad, The total
setup is interfaced to a micro-controller which
consists of operating instructions (codes), these are
the instructions used to control the motion of the
motors in forward and backward directions in steps,
this instructions are written in a specific coding
language which are constructed using a developing
tool. The tool used for this project is KEIL developer
µVision IDE 3.0.
III. BLOCK DIAGRAM AND DESCRIPTION
TRANSMITTER SECTION
Fig 1: Block diagram of Transmitter
In transmitter section we are going to use the one
personal computer to give the required signal to the
robot arm. This personal computer is connected to
the max232ic using the rs232 cable.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 33 Number 9- March 2016
The main purpose for using the max232ic because
the voltage levels of the computer and the
microcontroller do not match. This max232
regulates the voltage levels between the computer
and the microcontroller. The ic is connected to the
computer by using the db9 connector.
The AT89C51 is a low-power, high-performance
CMOS 8-bit microcomputer with 4K bytes of Flash
programmable and erasable read only memory
(EPROM)[5]. The device is manufactured using
Atmel’s
high-density
non-volatile
memory
technology and is compatible with the industrystandard MCS-51 instruction set and pin out. The
on-chip flash allows the program memory to be
reprogrammed in-system or by a conventional nonvolatile memory programmer. By combining a
versatile 8-bit CPU with Flash on a monolithic chip,
the Atmel AT89C51 is a powerful microcomputer
which provides a highly-flexible and cost-effective
solution to many embedded control applications[6].
The microcontroller is connected to the rftransimitter section .this transmitter sends the signal
which is given by personal computer to the receiver
section using the RF waves.
The last module in receiver section is the robotic
arm. The most common manufacturing robot is the
robotic arm. A typical robotic arm is made up of
seven metal segments, joined by six joints. The
computer controls the robot by rotating individual
step motors connected to each joint (some larger
arms use hydraulics or pneumatics). Unlike ordinary
motors, step motors move in exact increments
This allows the computer to move the arm very
precisely, repeating exactly the same movement over
and over again. The robot uses motion sensors to
make sure it moves just the right amount.
IV. CIRCUIT DIAGRAM AND DESCRIPTION
TRANSMITTER SECTION
RECEIVER SECTION
Fig.3 shows Circuit diagram of Transmitter.
Fig 2: Block diagram of Receiver.
In receiver section the first module is the rf-receiver.
This receives the signal from the transmitter section.
The receiver is connected to the power supply and
the microcontroller. The microcontroller is
connected with rs232 cable. The second module is
uln2003 drivers; the purpose of these drivers is to
drive the signal from microcontroller to the stepper
motor. This driver interfaces the signal between
these modules[7][8]. A stepper motor’s a widely
used device that translates electrical pulses into
mechanical movement the stepper motor is used for
position control in applications such as disk drivers,
dot matrix printers, and robotics. Every stepper
motor has a permanent magnet rotor (also called the
shaft) surrounded by a stator.
ISSN: 2231-5381
As you can see, transmitter is a really simple affair.
All you need is a power switch, because the
transmitter module emits carrier whenever it is
powered on. Q1 opens when its base is driven low
via R2, and supplies power to D1 led and RF
transmitter module. Once powered, the transmitter
broadcasts all data that is sent to console port. The
module works reliably at 2400 bps, so you will have
to set the console baud rate to this relatively low
value. However, if you have the PRN_OUT pin free
(I had it allocated to another experiment) then you
have better option to use this as transmitter output,
and use PRINT# to send data out. Printer output
baud rate is programmable at run time using BAUD
statement (in fact, you have to do it because
otherwise the timer will not be initialized and you
get something like 1 bps speed)[10].
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International Journal of Engineering Trends and Technology (IJETT) – Volume 33 Number 9- March 2016
which is the scope of our project but also many other
advanced heavy machineries which is difficult for
a normal human being to operate upon.
RECEIVER SECTION
Space Applications of Arm
Shuttle Robot Arm.
The Shuttle's robot arm is used for various
purposes.
Satellite deployment and retrieval.
Construction of International Space Station.
Transport an EVA crewmember at the end of
the arm and provide a scaffold to him or her.
(An EVA crewmember moves inside the cargo
bay in cooperation with the support crew inside
the Shuttle.)[9].
Survey the outside of the Space Shuttle with a
TV camera attached to the elbow or the wrist of
the robot arm.
Fig.4 shows Circuit diagram of Transmitter.
The receiver is built to be connected to PC serial
port. As it is powered from unused data pins, it may
not work with new laptops that only supply about +5V instead of desktop PC+-12V at RS-232 interface.
78L05 low power linear regulator is used to regulate
this voltage down to +5V for receiver module and
MAX-232. You cannot see the pin number on serial
connector, but pins 2 (TXD), 4 (RTS), and 20 (DTR)
are wired to diodes; pins 3 (RXD) and 5 (CTS,
optional) are wired to receiver output via RS-232
level shifter chip; pin 7 (GND) is connected to GND.
The whole thing can be easily assembled on a
piece of Vero board that is stuck between connector
pins, the receiver can then be plugged directly to 25pin serial port, or to the end of a straight-through
modem cable. My version looks like this.
V. RESULT
We control the movements of the arm using a
personal computer. Through a personal computer
we send the signals to the receiver at radio frequency
using an RF module using FSK (Frequency Shift
Keying) modulation technique. The receiver receives
the RF signals and based on the instructions given,
the movements of the arm are controlled. The arm
now rotates at 6 degrees of freedom. Hence by using
RF-FSK technique, it has its own advantages and
disadvantages we are able to run the Robotic arm
successfully. By using this technique or by using
any other advanced wireless techniques like IR
technology, GSM/GPS (Global System for mobile
technology/global positioning system) technology,
PLC technology ( Programmable Logic Control)
SCADA (Supervisory control and Data Acquisition)
technologies we are able to run not only the robots
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VI. CONCLUSION
The purpose of project is to control a Robotic Arm
using RF-FSK & 8051. Robots could free a large
number of people from hazardous situations
essentially allowing them to be used as replacements
for human beings. Robots were initially developed
for dirty, dull, and dangerous applications, they are
now being considered as personal assistants. Robots
will require more rather than less intelligence, and
will thereby have a significant impact on our society
in the future as technology expands to new horizons.
VII.
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[6]
DEEPAK RASAILY
SR LECTURER
ELECTRONICS AND
COMMUNICATION
CCCT
Authors:
[1]
CHERRYLA TOBDEN
LECTURER
ELECTRONICS AND
COMMUNICATION
CCCT
[2]
KARMA GYATSO BHUTIA
LAB INSTRUCTOR
ELECTRICAL AND
ELECTRONICS
CCCT
[3]
RINKU BHUTIA
LAB INSTRUCTOR
ELECTRICAL AND
ELECTRONICS
CCCT
[4]
SHYAM CHHINAL
SR LECTURER
ELECTRONICS AND
COMMUNICATION
CCCT
[5]
AARFIN ASHRAF
FINAL YEAR STUDENT
ELECTRONICS AND
COMMUNICATION
CCCT
ISSN: 2231-5381
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