SIMULATION, DESIGN AND PRACTICAL

IMPLEMENTATION OF A MOBILE WIRELESS

AUTONOMOUS SURVEILLANCE SYSTEM

T.C. Manjunath* , P.S. Shingare* , S. Janardhanan*

* Research Scholars , Interdisciplinary Programme in Systems and Control Engineering ,

ACRE Building , Indian Institute of Technology Bombay ,

Maharashtra State, India.

Keywords: Driver Units, Actuators, Micro-controller, Parallel Port Interface, Transmitter, Receiver.

Abstract: The paper presents the design, implementation of the a unique type of computer controlled wireless mobile

surveillance robot equipped with intelligence. Building an experimental autonomous mobile wireless

vehicle, which has the ability to perform in real time environments is both a technical and scientific

challenge and demands the development of systems for perception, modeling, planning and

navigation. Within this scope, this paper describes the construction of a low cost mobile

autonomous robot, intended for educational and surveillance purposes. This is a technology

demonstration work. The objective of the work is to design, fabricate each part and construct a

mobile robot and control it with a computer through wireless link which would accomplish two

dimensional motion on a horizontal plane, moving from one place to another, avoiding obstacles in

its path of motion by using infra-red sensors and performing the pick and place motion. The work

was undertaken as a sponsored consultation based project under the guidance of the author in the

institute.

1 INTRODUCTION

We are living in the age of automation. Today,

things are becoming more and more automated.

Automation has taken over the traditionally

manually controlled process in almost all the

industries. Today, a mobile robot can be designed

in order to operate in a wide range of industrial,

military, scientific, domestic, humanity and in

educational applications. Here, we have designed

and implemented such a system and is as follows.

2 DESIGN OF THE MECHANICAL

SUBSYSTEM

Our aim was to make a mobile robot, which can

move on a floor and perform pick and place

operation. It’s mechanical set-up has been divided

into three parts for ease in understanding the

assembly, viz., Movable base assembly, Manipulator

with up / down motion, Gripper.

2.1 Movable Base Assembly

The mobile base assembly is moving on two wheels

fit at the back end of the base and protruding out

from side. Castor wheel is fit below acrylic sheet to

support base assembly. Acrylic sheet has following

properties, viz., Light in weight, Good insulating

medium, Can be cut into various shapes and sizes.

To drive the system we have to use motors that can

give sufficient torque and at the same time they

should have sufficient rpm so that the robot can

move at a respectable speed. We had following

options before us. AC motors, Stepper motors and

DC Servo motors.

The first option of using a.c. motors was rejected, as

it would have required a power to the mobile system

from ac mains supply and this would have clearly

inhibited the movement of mobile base assembly.

Stepper motors are bulky and also consume more

power to give same amount of torque as simple DC

servomotors. Hence, even this option is rejected.

DC servomotors are light weighted and consume

less power. Therefore they can be easily driven

446

C. Manjunath T., S. Shingare P. and Janardhanan S. (2004).

SIMULATION, DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS SURVEILLANCE SYSTEM.

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics, pages 446-454

DOI: 10.5220/0001144504460454

 SciTePress

from a small on board dc power supply using a

simple electronic driving circuitry. Hence dc

servomotors were selected, as they were perfectly

suited for our application. Two D.C. Servomotors

drives the base assembly on which all electronic

component and gripper are mounted. These motors

are mounted on the lower surface of acrylic sheet

with help of cast aluminum brackets (clamping).

The process known as sand casting of the aluminum

makes clamping. To smooth the surface after

casting, filing and machining have been done on

clamping. To achieve the free rotation of the

wheels, bearing is fitted in each clamper. Clampers

are than attached to the base with the help of nuts

and bolts. Since the base has to carry the whole

weight of robot, torque at the wheel shafts has to be

very high. This is achieved with spur gears. The

motor shaft have a self - locking capability, i.e.,

motor shaft gets locked in the same position where it

was when the power supply to the motor is removed.

2.2 Manipulator With Up / Down

Motion

A robot manipulator is a mechanical device. To

achieve the up / down motion of the gripper the

following arrangement has been made. A geared DC

servomotor with gearbox (inside) is fitted below the

acrylic sheet in the front portion of the robot such

that motor shaft is come out from the top surface.

Long threaded ms is directly coupled to the motor

shaft with the help of nut and bolt. A cuboids of

acrylic sheet is internally threaded with same

threading as on sliver rod so that it can freely move

up or down on ms rod shaft. Gripper is attached to

the cuboids with the long bolt and nut.

2.3 Gripper

The Robot being PNP-type has a gripper as the end

effecter. The gripper will be of parallel jaw type,

which will work on the principle of left-hand / right-

hand screw. The LH / RH screw will be made by

tapping a brass rod with LH die from one end and

RH die from other end so that gripper jaws will

move in opposite direction, that is jaws will move

either towards each other to grip an object or away

from each other to release it. The LH / RH screw

will be coupled to a motor shaft via spur gear

arrangement.

2.4 Gears

The gears are required for following two reasons:

• For reducing the speed of the robot.

• For increasing torque of the motors.

2.5 Specification of Motors / GEARS

BASE MOTORS

Torque: 10 kg.cm, Current rating 1A, CW-CCW

Motion, Base Motor Speed - 55 r.p.m.

GRIPPER MOTOR

Torque: 5kg.cm, Current Rating 0.5A, CW-CCW

Motion,

Base Motor Speed 55 r.p.m

GEARS

Material: Deldrin ( Polyacetal resin), Ratio 1: 4 -----

12 × 48 teeths, Center : Aluminium Bush with 3 / 8”

with 3 nos. screw / tapped holes.

3 THE PC’S SERIAL PORT

This topic looks at serial ports inside the PC,

between the connector and the CPU.

PORT ARCHITECTURE

The UART

ABOUT RS-232

THE MAX 232

A simple way to translate from 5V logic to RS -

232 is to use one of the many chips designed for

this purpose. Maxim Semiconductor was the

first to offer RS - 232 interface chips that

require only a +5V power supply. Many other

companies, including Linear Technology,

Harris Semiconductor, Texas Instruments,

Dallas, Semiconductor, and National Semi-

conductor, now have similar chips, as well as

dozens of derivatives for just about every

conceivable configuration. The chips may be

listed in catalogs and data books under Linear,

Interface, or Special Function ICs. The original

MAX 232 includes two drivers that covert TTL

inputs to RS - 232 outputs, and two receivers

that accept RS - 232 inputs and translate them

to CMOS - compatible outputs. The drivers and

receivers also invert the signals.

SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS

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447

3.1 Voltages For 5 V TTL And

CMOS Logic

Table 1: Voltage levels

Parameter TTL

Logic

(Volts)

CMOS

logic

(volts)

74HCT

(Volts)

Logic-low

output (max)

0.4 0.1 0.1

Logic-high

output (min)

2.4 3.5 3.5

Logic-low

input (max)

0.8 1 0.8

Logic-high

input (min)

2.0 3.5 2.0

The chip contains two charge - pump voltage

converters that act as tiny, unregulated power

supplies that enable loaded RS - 232 outputs of

7V or better. Four external capacitors store

energy for the supplies. The recommended

value for the capacitors is 1

F or larger. Most

of the example circuits in this book use a

MAX232A or MAX233, but you can use any

converter with the appropriate number of

drivers and receivers.

Figure 1: Max 232

4 FM TRANSMITTER

Figure 2: FM Transmitter

There are basically two methods of FM

generation :

Parameter variation method.

Indirect method (Armstrong method).

The above schematic is for a FM transmitter

with 2 W O/P power that can be used b/w 85

and 110MHz. This circuit uses “parameter

variation method” of FM generation. In the

above circuit, the carrier frequency is very

nearly equal to the resonant frequency of an

inductance capacitance combination. Thus the

carrier frequency is f = (2

∏

√

L1C1)

–1

. The

trimming capacitor C

is shunted by a voltage

variable capacitor C

. A voltage variable

capacitor commonly called a varicap (BB204),

is one whose capacitance value depends on the

to biasing voltage maintained across it’s

electrodes.

In the circuit the modulating signal varies the

voltage across Cv. As a consequence, the

capacitance of Cv changes and causes

corresponding change in carrier frequency.

Thus at the contractor of transistor Q

and Q

we get signal whose instantaneous frequency

depends on the instantaneous value of the

modulating signal (i.e., FM). This signal is

amplified by class push - pull power amplifier

formed by Q

and Q

. Then the amplified

signal is coupled to an antenna. In this circuit

and Q

should be cooled with a heat sink.

The 22pf variable capacitor is for the frequency

adjustment. The another trimmer must be

adjusted to maximum power with minimum

SWR and input current.

A principal difficulty with this circuit is that

when we require the carrier frequency to be

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maintained constant to a high order of precision

over extended period of time. There is certain

measure of inconsistency in requiring that a

device have a long time frequency stability and

yet be able to respond readily to a modulating

signal.

5 ANTENNA CONSTRUCTION

DETAILS

There are two types of antennas. They are a hi-

gain multi-element yagi antenna for long-range

transmission and simple open dipole antenna

for short-range transmission. Also another very

simple type of antenna, called GP antenna or

‘Ground Plane’ antenna, could be used, but GP

antenna and a half – wave dipole antenna gives

approximately the same range while a half –

wave dipole antenna is much simpler to built

and easy to erect at a more height than a GP

antenna. That is why we are not going into

detailed construction of GP antenna.

First, we will describe the hi-gain, 5 - element

yagi antenna. A yagi antenna gives much more

gain than a dipole both for reception or

transmission. Actually a yagi is an array

consisting of a driven element (the dipole) and

one or more parasitic elements. This type of

antenna is relatively unidirectional and the

directive gain is improved by the addition of

more directors to give directive gains from

about 7dB for a three - element yagi to about 15

dB for a five - element yagi. Therefore, it is

obvious that if you use a five - element yagi

instead of a simple dipole for both transmission

and reception range will increase even up to

150%.

For this purpose, you need to construct an

‘open-dipole’ very carefully. This is a

directional type antenna and if you use it

horizontal, as shown in the figure, it gives a

‘figure of eight’ radiation pattern transmission

perpendicular to its length. This way, signal

travels much larger distance. Here two

telescopic aerials or two ½” or ¾” diameter

aluminum rod, each of length defined by

0.475W or 1484mm for 96 MH

application is

used as two ‘Dipole Elements’.

Place them on a horizontal plastic or wooden

plate and fix with nut - bolts. Insulated ropes

instead of nut - bolts to fasten elements with the

plate can be used. This plastic or wooden plate

serves two purposes. Firstly it hold two dipole

elements in a same horizontal line and secondly

it insulates between two elements as well as

from the boom. Here you must ensure while

constructing that two dipole elements should

never come into contact with each other and

also with boom. Also two elements should

remain in a single straight line. Connect co-

axial cable RG 59 (or any other good quality 75

ohms CATV co-axial cable) as shown in the

figure.

Center core should be connected to one element

(any one) and shielding should be connected to

another. In figures, for the sake of clarity, we

have shown that RG59 is long stripped and

connected to elements. But you should not strip

co-axial long. Strip as much needed and

connect it just at the 25mm openings of dipole

with small screws. Ensure that co-axial

shielding or center core does not touch boom.

No we shall describe construction details of rest

of the yagi. You will need a 1” x 1” square

boom with some ½” or ¾” diameter aluminum

rod (for dipole and other elements) to build this

yagi. We have already discussed how to make

the dipole.

Now for fixing this dipole with the boom at

appropriate place, you need to drill hole at the

boom and at the base plate (plastic or wooden

plate). The is clearly shown in the above

figure. Ensure that while fixing the dipole with

the boom, the but-bolt (placed between two

dipole elements, in the 25mm gap) should never

come into contact with any dipole element or

co-axial cable (as this nut-bolt is electrically

connected with bloom). Now fix the rest of the

elements, i.e. one reflector and three directors.

Drill hole at the boom according to figure and

use nut bolts to attach all directors and reflector

with boom. It does not matter whether the

elements are electrically connected to boom or

not. Just they should be parallel to each other

and perpendicular to boom. The antenna boom

should be kept horizontal in all conditions for

best results.

SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS

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449

6 IMPORTANT INSTRUCTIONS

REGARDING ANTENNA

Table 2: Frequency Range

96MH

f MH

Reflector 1563mm 0.5W

Open Dipole 1484mm 0.475W

Director 1 1409mm 0.451W

Director 2 1341mm 0.429W

Director 3 1272mm 0.407W



Antenna should be erected at least at the

highest point of a double storey building

roof using a PVC pipe, metal pipe or

bamboo etc. i.e. antenna height should be at

least 30 - 40 feet above ground level.



Direction of maximum radiation is

perpendicular to the element in case of

dipole antenna, exactly like yagi.



There should be no physical obstruction in

front of dipole / yagi and the ‘line of sight’

for transmission should be free.



Use very good quality wire in all cases.



Use as much wire as needed, If you use

minimum wire, power loss in the wire would

be less and you will get more range.



Television antenna or CATV connection

wire should be at least 20 - 30 feet away

from dipole antenna; otherwise interference

may happen.



Never make a circular or spiral coil of the

excess wire as you normally do it in case of

a TV receiver. This will decrease range

drastically. Cut the excess wire.

7 AUDIO-VIDEO TRANSMITTER

Figure 3: AV Transmitter

The circuit presented here is a simple audio/video

transmitter with a range of 3 to 5 m. The A/V signal

source for the circuit may be a VCR, a satellite

receiver or a video game etc. A mixer which also

operates as an oscillator at VHF (H) channel 5 TV

frequency is amplitude modulated by video signal

and mixed with frequency which contains video

carrier frequency of 175.25 Mhz and audio carrier

frequency of 180.75 Mhz. Then, the transmitter is a

B-System of CCIR compatible.

The circuit consists of transistor T1 with its resonant

tuned tank circuit formed by inductor L1 and

trimmer capacitor VC1, oscillating at VHF (H)

channel 5 frequency. Transistor T2 with its tuned

circuit formed using SIF coil and inbuilt capacitor

forms oscillator. The audio signal applied at the

input to T2 results into frequency modulation of 5.5

Mhz oscillator signal. The output of 5.5 Mhz FM

stage is coupled to the mixer stage through capacitor

C8 while the video signal is coupled to the emitter of

T1 via capacitor C4 and variable resistor Inductor

L1 can be wound on a 3mm core using 24SWG

enameled wire by just giving 4 turns.

Calibration/adjustment of the circuit is also not very

difficult. After providing 12V DC power supply to

the circuit and tuning your TV set for VHF (H)

channel 5 reception, tune trimmer VC1.

Component Value

L1 4 Turns , 24 SWG on 3mm ferrite core

Transformer 7:18

7.1 Comparator

Figure 4: A Comparator

7.2 Comparator using LM-324

Comparator is used at the output of an amplifier.

Comparator ensures that signal applied at the RXD

pin of 89c51 and serial port (MAX-232) is of TTL

logic level (0-5V). It also avoids transmission noise

and prevents false triggering. LM-324 is an op-amp

comparator. It requires single supply voltage (3-

15V). Its slew rate is also high, therefore it can

handle data at high baud rate.

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8 RECEIVER

The TEA5591A is a 24-pin integrated radio circuit,

derived from the TEA5591 and is designed for use

in AM / FM portable radios and clock radios. The

main advantages are separate IF input pins for AM

and FM, A split-up AM-IF stage (for distributed

selectivity), An LED driver indicator. The main

advantage of the TEA5591A is its ability to operate

over a wide range of supply voltages (1.8 to 15 V)

without any loss of performance.

The AM circuit incorporates :

A double balance mixer, A ‘one-pin’ oscillator with

amplitude control operating in the 0.6 to 30 MHz

frequency range, A split-up IF amplifier, A detector,

An AGC circuit which controls the IF amplifier and

mixer.

The FM circuit incorporates :

An RF input amplifier, A double balanced mixer, A

‘one-pin’ oscillator, Two IF amplifiers (for

distributed selectivity), A quadrature demodulator

for a ceramic filter

Internal AFC.

8.1 Circuit Diagram

(TEA5591A as FM Demodulator

only)

Description :

The L293 and L293D are quadruple high-current

half-H drivers. The L293 is designed to provide bi-

directional drive currents of up to 1 A at voltages

from 4.5 V to 36 V. The L293D is designed to

provide bi-directional drive currents of up to 600-

mA at voltages from 4.5 V to 36 V. Both devices are

designed to drive inductive loads such as relays,

solenoids, dc and bipolar stepping motors, as well as

other high-current/high-voltage loads in positive-

supply applications.

Figure 5: Receiver

9 MOTOR DRIVER

Figure 6: A Motor Driver

All inputs are TTL compatible. Each output is a

complete totem-pole drive circuit, with a Darlington

transistor sink and a pseudo-Darlington source.

Drivers are enabled in pairs, with drivers 1 and 2

enabled by 1,2EN and drivers 3 and 4 enabled by

3,4EN. When an enable input is high, the associated

drivers are enabled and their outputs are active and

in phase with their inputs. When the enable input is

low, those drivers are disabled and their outputs are

off and in the high-impedance state. With the proper

data inputs, each pair of drivers forms a full-H (or

bridge) reversible drive suitable for solenoid or

motor applications.

SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS

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10 OBSTACLE ALLEY

If you drive an automobile, you know the practical

application of the Pauli exclusion principle: Two

objects cannot occupy the same space at the same

time. What’s true for automobile is even true for

robots. An autonomous robot has to keep itself from

colliding with obstacles. Obstacles might take the

form of a wall or post, or they may be mobile like a

dog, a person, or another robot. Since robot can’t

know the position of moving object in advanced, it

must have some way of detecting obstacles in real

time. Humans, of course, use vision. While a robot

that can see would be very desirable, it’s also quite

expensive and difficult to make a vision system

appropriate for robotics.

Luckily, detecting obstacles doesn’t require anything

as sophisticated as machine vision. A much simpler

system will suffice. Some robots use SONAR

(sometimes called SODAR when used in air instead

of water) or RADAR. An even simple system is to

use infra red light to illuminate robot’s path and

determine when light reflects off an object.

11 IR BASICS

In theory, detecting an object with IR is simple. You

simply shine an IR light (an IR LED) in forward

direction and use a detector to look for reflected

light. In practice, it is somewhat more complicated.

If we used this oversimplified approach, the detector

will falsely trigger from ambient IR that occurs

naturally. To prevent these false triggers we shall

want to employ detectors that are sensitive to IR

modulated at particular frequency and modulate the

IR source to that same frequency. In common

remote control for consumer electronics the

modulation frequency is 38khz.

We can readily find IR receiver sensitive to this

frequency. Therefore we need an external circuit to

modulate IR LED. Another refinement useful for the

robotics is to use two detectors (and possibly two

LED’s). You shall place one detector on the left side

of the Robot and other on the right. This allows us to

detect object and determine its position relative to

the robot. If only one detector activates, the object is

on that side. If both detectors turn on, the object is

dead ahead.

12 THE OSCILLATOR

IR LED’s are commonplace and work just like

regular LED’s. To modulate the LED’s, you can use

555-based oscillator.

In this circuit we can adjust the frequency by

adjusting the potentiometer. The output should be

near 38khz. Of course 555 is not extremely stable, so

value may vary a bit, but it should be close to 38khz.

13 IR DETECTION:

The detectors look like transistors with bulge on one

side. The bulge is sensitive area. Two of the three

pins carry power and ground to the detector. The

other pin emits logic 0 when it detects IR light. Here

we have used TSOP1738, which is shown in

Figure 7.

Figure 7: IR sensor Figure 8: Optocoupler Pin

out

13.1 Block Diagram

Figure 9: Block diagram of IR unit

The mounting of the detector and the LED’s can be

a little tricky and depends on the exact construction

of the robot. We need to direct the LED’s in forward

direction and minimize the leakage from around the

sides of the LED’s. This can be achieved by

covering the LED with a bit of heat shrink sleeving.

The position of detectors is crucial. We should

mount them as far apart as possible and tilt them

slightly away from the LED’s.

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13.2 Circuit Diagram

Figure 10: Optocoupler

13.3 Optocoupler

The features of the Optocoupler unit are as follows.

Convenient plastic Dual-In-Line Package. High

Input-Output Isolation Guaranteed 3750 Vac (rms).

UL recognized. VDE approved per standard

0883/6.80. Special lead form available that satisfies

VDE0883/6.80 requirement for 8 mm minimum

creepage distance between input and output solder

pads.

13.4 Shaft Encoder

The slotted (eight slots) disc is coupled to one of the

base motor shaft gears and opto-coupler. When the

disc rotates it cuts the light beam emitted by the

LED. This generates pulses at the output of the

phototransistor. These pulses are applied to T0 input

of the micro-controller. The timer is programmed as

a 16-bit counter in mode 1. The count is proportional

to the distance covered by the wheel.

14 SOFTWARE

The mobile surveillance vehicle employs a

sophisticated application controlling interface

created in visual basic 6.0 as it is a fantastic

programming language for any application software

development. The software is designed for

maximum robot control and working efficiency. It is

so designed that the user can have complete control

over each movable part of the Robot. Also the user

can easily maneuver the Robot.

The PC algorithm is as follows. From the front

end, the pc will send start code and machine code for

each instruction in the first byte and then the

operation code in the next byte. Delay of 1sec is kept

between the transmissions of two bytes using timer

event for proper reception at the micro-controller

side. The byte format is,

D7 D6 D5 D4 D3 D2 D1 D0

Start / Stop /

Action Select

Bit

Machine Code /

Motion Select

Bit

Mode /

No. of

D7-D5

000- start code ; 001- vehicle base ; 010- gripper ;

011- camera ;100- send sensor data ; 101- send

battery level ; 110- execute ;111- stop.

D4-D3

00- base forward / gripper up / camera on ;

01- base right / gripper catch / camera cw ;

10- base reverse / gripper release / camera ccw ;

11- base left / gripper down / camera off ;

The last two bits indicate number of bytes to be sent.

The data following the code specifies the distance to

be traveled by the robot. The ONCOMM event will

wait for the count from micro-controller. When

triggered, the map will be drawn from initial

position to new position by line function. PC can

request the battery and sensor status to the robot.

89C51 MICROCONTROLLER ALGORITHM

1. Start.

2. Initialize the system- clear all ports, set baud

rate and enable serial interrupts. Set first byte

flag (FB) = 1, code flag (CF) = 1, machine flag

(MF) = 0.

3. Receive serial interrupt.

4. If FB = 0, then go to step 8.

5. Else (FB = 1): If MF = 1 (stop code received),

send data to PC and make CF = 1 & MF = 0

Else (MF = 0) : check for MSB 3 bits (000-start

code), if not matched, go to step 3

6. Check next 3 bits (machine code)

7. If machine code matched, make MF = 1(m/c

selected) & FB = 0 and go to step3.

Else (false): make MF = 0 & FB = 0 and go to

step 3.

8. Check for code flag. If CF = 0, go to step 10.

9. Else (CF = 1): Load LSB 2 bits in counter (no

of bytes), push code, make CF = 0 (for data) and

go to step 3.

10. Decrement count & push data.

11. If count != 0, go to step 3. Else (count = 0):

12. Check for machine flag (execute only if the

machine is selected)

13. If MF = 0; go to step 3.

14. Else (MF = 1): make FB = 1, decode and

execute the instruction and go to step 3.

15. End.

SIMULATION , DESIGN AND PRACTICAL IMPLEMENTATION OF A MOBILE WIRELESS AUTONOMOUS

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453

Figure 11: An application oriented GUI

The software GUI is shown above in Figure 11.

15 CONCLUSIONS AND

APPLICATIONS

A mobile wireless remote surveillance vehicle

was indigenously designed and implemented. The

system is capable of moving upto 3 km range

and capture the video of the front end of the

robot and transmit it to the host computer. A

on-board microcontroller on the mobile

surveillance vehicle controls each and every

operation of the robot by giving instructions and

taking instructions from the transmitter and

receiver. A rotating web camera is thus used to

send the messages from the remote area to the

host PC. The following are the applications.

Surveillance: As the camera is mounted on the

robot, video information of the surroundings can be

transmitted which could be useful in some critical

applications such as reconnaissance and surveillance

activities performed in military and chemical plant.

Nuclear plants : In the nuclear plants where human

intervention is impractical mobile wireless robot is

very much useful.

Space exploration : Mobile robot can be sent into

the space to determine various atmospheric

conditions with the help of sensors. With the camera

mounted on the base the terrain of planets can be

observed.

Pick and place : Robot is equipped with gripper

having up/down motion, which could be useful in

various industries to lift different objects. Due to

up/down motion objects placed at various heights

can be lifted.

REFERENCES

Dr. Amitabha Bhattacharaya, “Mechatronics of Robotic

Systems”.

Groover, Weiss, Nagel and Odrey, “Industrial

Robotics”, McGraw Hill.

Manjunath. T.C., “Fundamentals of Robotics”, Nandu

Publishers, 2

Edition, Mumbai.

Klafter, Thomas and Negin, “Robotic Engineering”,

Prentice Hall of India, New Delhi.

Gulati, R. R., “Monochrome and color TV”, Wiley.

Kenneth Ayala, J., “The 8051 Microcontroller”, Penram

International.

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