WEEK 8 (FYP2)

WEEK 8

Program the Project (Robotic Arm)

The figure above show the code for robotic arm program that are link with the hand motion controller’s program. This program will show the output on the motor drive and follow the instruction of the hand motion controller’s program. For example, if the digital read 0 (D0) is high and another digital read 1 (D1), digital read 2 (D2) and digital read 3 (D3) is low, then the motor drive will be move up (forward). After that, if the digital read 1 (D1) is high and another digital read 0 (D0), digital read 2 (D2) and digital read 3 (D3) is low, then the motor drive will be move down (backward). Then, if the digital read 2 (D2) is high and another digital read 1 (D1), digital read 0 (D0) and digital read 3 (D4) is low, then the motor drive on the gripper will be opened (right). If the digital read 3 (D3) is high and another digital read 1 (D1), digital read 2 (D2) and digital read 0 (D0) is low, then the motor drive on the gripper will be closed (left). Lastly, if the digital read 3 (D3) is low and another digital read 1 (D1), digital read 2 (D2) and digital read 0 (D0) is high, then the motor drive will be stop.

This is the internal data of motor drive for forward, backward and stop

WEEK 7 (FYP 2)

WEEK 7

Program the Project (Hand Motion Controller)

Figure above show that if the Y-axis is -30, that means the signal is in forward and the digitalwrite for D2 is low but D0, D1 and D3 is high. This is show that when user turn their hand on lower 30 degree, the signal to turn down the gripper will be send to robotic arm.

Figure above show that if the Y-axis is up to 30 degree, that means the signal is in back and the digitalwrite (D) for D3 is low but D0, D1 and D2 is high. This is show that when user turn their hand on upper 30 degree, the signal to turn up the gripper will be send to robotic arm.

Figure above show that if the axis is stop, that means the signal is stop and the digitalwrite (D) for D0, D1, D2 and D3 is high. This is show that when user stop their hand’s movement, the signal to stop the gripper will be send to robotic arm.

WEEK 6 (FYP 2)

WEEK 6

Program the Project

This week on 18 March 2020, student need going back to home since Movement Control Order (MCO) because of Covid-19 issue. Then I started my FYP 2 project and took home all of my components and equipment. My project has two coding systems, which are on the robotic arm, and the controller of the hand motion. Coding is very important on every project because it will run the program based on the planning. Therefore, this is the code for hand controller:

   

Figure above show that if the X-axis is -30, that is mean the signal is Right side and the digitalwrite for D0 is low but D1, D2 and D3 is high. It shows that when user turn their hand on rightside 30 degree, the signal to open the gripper will be send to robotic arm.

Figure above show that if the X-axis is 30, that means the signal is in leftside and the digitalwrite for D1 is low but D0, D2 and D3 is high. This is show that when user turn their hand on leftside 30 degree, the signal to close the gripper will be send to robotic arm.

WEEK 5 (FYP 2)

WEEK 5

Schematic Diagram

          On week 5, I started focus on schematic diagram to understand the flow of the project. Schematic diagram is the part that will explain about constructed the circuit. It divided into two part, which is on robotic arm and hand controller.

Schematic Diagram for Robotic Arm

Based on the figure, ATMEGA328P is a main of the components because it will control the entire component with the program. This project use two DC motor to move the robotic arm for this project and the Arduino used to transfer the program’s code to ATMEGA328P. This project also use RF module that is comprises of an RF transmitter and an RF receiver. The transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz and An RF transmitter receives serial data and transmits it wirelessly via its pin4-connected antenna using RF. HT-12D is decoder IC which is it divided to encoder and decoder. Encoders are encoding digital ICs. Through encoding, it mean for every input to produce a digital binary code. Usually, an Encoder IC consists of an Activate pin that is usually set high to signify the job. So, the last output will go through the motor to moved robotic arm.

Schematic Diagram for Hand Controller

The schematic diagram for hand controller that is the controller will receive the hand’s direction from user and send the signal data to the robotic arm’s program. The program has motion sensor accelerometer; the sensor accelerometer can used to measure the sensor acceleration. when receive the movement up, down, left, or right from the user, the data will be send to ATMEGA328P. The ATMEGA328P will send the instruction data to RF module transmitter for the next process to send the data at Robotic arms program. The RF transmitter module is a small PCB that is capable of transmitting a radio wave and modulating the radio wave for data transmission. Usually, these transmitters are subject to control requirements that command the maximum acceptable transmitter power o / p, band edge, and harmonics. This program use 12v battery and will put on the glove, easy for user. After doing the schematic, i started doing program for my project by using Arduino software on my laptop.

Arduino Software

WEEK 4 (FYP 2)

WEEK 4

Built a block diagram for Transmitter and Receiver

This week, I started doing block diagram for my project hand motion robotic arm. Block diagram is the first step to see the flow that will show the diagram that can give reader a good understanding about this project. Usually block diagram used in the development of hardware and software to expand awareness of some project or to explain the system flow. The low explanation used to keep the description simple, easy and clear to understand. The block diagram have divided into two part, which is transmitter and receiver. The transmitter block diagram on the hand controller and the receiver is on the robotic arm. This is because the transmitter will send data by using RF module transmitter to receiver by using RF module receiver.

Block Diagram of Transmitter (Hand Motion Controller)

           

Based on the diagram, the hand motion’s controller used 12V power supply, which is by using battery. The accelerometer is sensor that will detected the motion or movement, so it will send the data to 8051 series microcontroller. Then, the data will be transfer to RF module transmitter and give the signal to RF module receiver by using antenna.

Block Diagram of Receiver (Robotic Arm)

The diagram above show the block diagram for robotic arm that been use direct current power supply because the robotic arm need to use direct voltage to lifting object, so not practically use battery. After that, when the RF module receiver receive the signal, it will send the data to microcontroller and the driver IC will convert the data to move the robotic arm. So the robotic arm will move based on hand motion.