Obstacle avoidance & navigation of path tracing manipulator for Industrial Robots

[[wysiwyg_imageupload:1996:]]Mr. Praveen Kumar from Chennai contributed this project report.

1.1.1 DEFINITION

1.      A robot is an automatically guided machine, able to do tasks on its own.

2.     Major classification of robot is industrial robot and service robot. 

BLOCK DIAGRAM OF THE PROJECT

The block diagram of   the project is given below.The various modules are explained later in this chapter. 

In order to make an electronic switch a carbon or gold pill is placed on the base of the switch center which contacts onto a PCB when the web has been deformed.      

2.3 MEMORY UNIT :

The AT89C51 is normally shipped with the on-chip Flash memory array in the erased state (that is, contents = FFH) and ready to be programmed. The programming interface accepts either a high-voltage (12volt) or a lowvoltage (VCC) program enable signal. The low voltage programming mode provides a convenient way to program the AT89C51 inside the user’s system, while the high-voltage programming mode is compatible with conventional third party Flash or EPROM programmers. The AT89C51 is shipped with either the high-voltage or low-voltage programming mode enabled.

2.3.2 PROGRAMMING ALGORITHM:

1. Input the desired memory location on the address lines.
2. Input the appropriate data byte on the data lines.
3. Activate the correct combination of control signals.
4. Raise EA/VPP to 12 V for the high-voltage programming mode.
5. Pulse ALE/PROG once to program a byte in the Flash array or the lock    bits. The byte-write cycle is self-timed and typically takes no more than 1.5 ms. Repeat steps 1 through 5, changing the address and data for the entire array or until the end of the object file is reached. Data Polling: The AT89C51 features Data Polling to indicate the end of a write cycle. During a write cycle, an attempted read of the last byte written will result in the complement of the written datum on PO.7. Once the write cycle has been completed, true data are valid on all outputs, and the next cycle may begin. Data Polling may begin any time after a write cycle has been initiated.

AT24C16, 16K SERIAL EEPROM: Internally organized with 128 pages of 16 byte search, the 16K requires an 11-bit data word address for random word addressing                                              

1. Clock up to 9 cycles.
2. Look for SDA high in each cycle while SCL is high
3. Create a start condition.

TSOP1738 Series Photo modules are miniature IR sensor modules with PIN photodiode and a preamplifier stage enclosed in an epoxy case. Its output is active low and gives +5 V when off. The demodulated output can be directly decoded by a microprocessor. The important features of the module includes internal filter for PCM frequency, TTL and CMOS compatibility, low power consumption (5 volt and 5 mA), immunity against ambient light, noise protection etc. The added features are continuous data transmission up to 2400 bps and suitable burst length of 10 cycles per burst.            

CHAPTER 3

HARDWARE REQUIREMENTS AND SOFTWARE REQUIREMENTS

The circuit shown below uses step-down transformer for steeping down the 220V AC to 12V AC. A bridge rectifier is used to rectify the 12V AC into 12V DC.   FIGURE 3.1CIRCUIT FOR 5V POWER SUPPLY

3.2 RELAY            

 

3.3 ULN 2003:

 

1. TTL, DTL, PMOS, or CMOS-Compatible Inputs
2. Output Current to 500 mA
3. Output Voltage to 95 V
4. Transient-Protected Outputs
5. Dual In-Line Plastic Package or Small-Outline IC Package

3.4 OBSTACLE SENSING:

3.4.1 IR DETECTION SETUP: 

Since the Cx51 Compiler is a cross compiler, some aspects of the C programming language and standard libraries are altered or enhanced to address the peculiarities of an embedded target processor. Refer to Language Extensions for more detailed information. 

The classic 8051 provides 4 register banks of 8 registers each. These register banks are mapped into the DATA memory area at address 0 – 0x1F. In addition the CPU provides a 8-bit A (accumulator) and B register and a 16-bit DPTR (data pointer) for addressing XDATA and CODE memory. These registers are also mapped into the SFR space as special function registers. FIGURE 3.9 8051 VARIANTS
3.6.4 8051-SPECIFIC OPTIMIZATION

3.6.6 CREATING A NEW PROJECT

In Keil µVision2, select Project -> Create New Project from the menu. Enter the name of your new project. The Select Device for Target dialog will appear as shown below in Figure4.2.UnderDatabase,  select    Dallas Semiconductor and DS5250. Check the boxes for Use Extended Linker and Use Extended Assembler, and then hit OK to continue.
FIGURE 3.10 SELECTING THE DS5250 FOR A NEW KEIL µVISION2 PROJECT.
A new dialog box will ask, “Copy Dallas 80C390 Startup Code to Project Folder and Add File to Project?” Select YES.

1. Memory Model – Set to Large: Variables in XDATA.
2. Code ROM Size – Set to Contiguous Mode: 16 MB program.
3. Set the checkbox for Use multiple DPTR registers.
4. In the Off-chip Code Memory section of the dialog, set the top two fields to Eprom Start: 0x1400 and Eprom Size: 0x10000.
5. In the Off-chip Xdata Memory section of the dialog, set the top two fields to Ram Start: 0x80000 and Ram Size: 0x10000.

FIGURE 3.11 TARGET OPTION DETTINGS FOR THE DS5250.
 

To compile the project, press F7, or select Project -> Build Target from the menu. If no errors occur, messages should appear indicating that compilation completed successfully, as shown in Figure 3.12.
FIGURE 3.12 COMPILATION OUTPUT FROM KEIL µVISION

1. A 6-9 volt DC power supply (center post positive) should be connected to power plug J1.
2. A straight-through, DB9 serial cable should be connected from J3 (SERIAL 0) to COM1 on the host PC.
3. A 22.1184 MHz crystal should be inserted.
4. All DIP switches should be OFF except for A1-A4, B1, and B2 which should be ON.

1. Open Microcontroller Tool Kit. In the microcontroller type dialog, select DS5240/50.
2. Turn power on to the DS52x0 Evaluation Kit Board.
3. Select Options -> Configure Serial Port. Set the serial port options to COM1 and 9600 baud.
4. Select Target -> Open COM1 at 9600 baud (or hit Ctrl+O).
5. Select Target -> Connect to Loader (or hit Ctrl+L).
6. A loader prompt should appear (DS5250 SECURE LOADER…)
7. At the loader prompt, type “W MSIZE 12” and hit ENTER.
8. At the loader prompt, type “W MCON 81” and hit ENTER.
9. Select File -> Load from the menu (or hit Ctrl+H). Select the compiled application hex file.
10. Once loading completes, set the DIP switch B1 to the OFF position.

FIGURE 3.13 OUTPUT FROM MICROCONTROLLER TOOL KIT

OUTPUT AND RESULTS OF PROJECT

1. Increase Efficiency
2. Decrease Production Costs
3. Improve Product Quality
4. Are Ideal for Hazardous Conditions

1. Coal mining
2. Military Operation
3. Fire fighting Operation
4. Undersea Robots
5. Garbage Collection and Waste Disposal Operations

Project Source Code

Project Source Code

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#include <stdio.h> 
#include <reg5240.h>   
// Initialize serial port 0 to 9600 baud using 22.1184
MHz
crystal 
void serialInit() 
{ 
   PCON |= 0x80; 
 
 
   SCON0 = 0x50; 
 
 
   TMOD |= 0x21; 
 
   TH1    = 0xDC; 
 
 
   CKCON |= 0x10; 
 
 
 
   TCON   = 0x50; 
 
 
   SCON0 |= 0x02; 
} 
void main()
 
 
 
 
{
 
 
   serialInit(); 
 
 
 
 
 
   printf('Hello from serial port 0r');
 
while (1) { 
 
 
      P0 = 0x55; 
 
 
               printf("."); 
 
 
      P0 = 0xAA; 
 
               printf(".");
 
 
   }
 
 
}
 
 
 
Save this file as main.c. The file will not be automatically added to the project. To add the file, right-click on Source
 
 
 Group 1 and select Add Files to Group 'Source Group 1'. Select main.c and click Add, then click Close.
 
Next, open the file START390.A51 and comment out the following lines (after the STARTUP1 label):;                            
 
 
 
 
 
MOV
 
 
     TA,#0xAA        ; Enable access to P4CNT;     
     MOV     TA,#0x55 ;
P4CNT_VAL EQU (SBCAN SHL 6) OR (PCES SHL 3) OR (P4PF);                            
 
 
MOV     P4CNT,#P4CNT_VAL ;
 
 
;              MOV     TA,#0xAA        ; Enable access to P5CNT;            
 
 
MOV     TA,#0x55
 
 
;P5CNT_VAL EQU (SP1EC SHL 5) OR (CX_IO SHL 3) OR (P5PF);                             
 
 
MOV     P5CNT,#P5CNT_VAL
 
 
 
 
 
Also, change the line
 
 
#include <reg390.h> 
 
 
 
 
 
to
 
 
 
 
 
 
#include <reg5240.h> 
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