TELKOM
NIKA Indonesia
n
Journal of
Electrical En
gineering
Vol. 14, No. 1, April 2015, pp. 110 ~ 1
1
5
DOI: 10.115
9
1
/telkomni
ka.
v
14i1.737
0
110
Re
cei
v
ed
No
vem
ber 2, 20
14; Re
vised Janua
ry 2
6
20
15; Accepted
February 15,
2014
Development of Prototype Model for Wireless Based
Controlled Pick and Place Robotic Vehicle
Lo
w
Ko
k
Ha
u
1
, Go
w
r
ishankar Kasilingam
2
, K. Nithiy
ananthan*
3
F
a
cult
y
of Engi
neer
ing & C
o
mputer T
e
chnol
o
g
y
, AIMST
Universit
y
,
Semeli
ng, Be
d
ong, 08
10
0 Ke
dah, Mal
a
ysia
*Corres
p
o
ndi
n
g
author, e-ma
i
l
: go
w
r
i
200
@
y
aho
o.com
2
, nithie
ee@
ya
h
oo.
co.in
3
A
b
st
r
a
ct
T
he main
ai
m
of this researc
h
w
o
rk is to dev
elo
p
an
d des
i
gn a pr
oto type mode
l for a pick an
d
plac
e ro
botic
vehicl
e w
i
th
a
soft catch
i
ng
gri
pper
that
can
be
contro
lled
by
a
ndro
i
d OS for
re
mot
e
oper
ation. At t
he trans
mitting
end
usi
ng
and
roid
ap
plic
ation
devic
e, co
mmands
are s
ent t
o
the r
e
ceiv
er t
o
control th
e
mo
vement of th
e
robotic
v
ehic
l
e.
Meanw
hi
le
at the rece
ivin
g
e
nd four
motors
are i
n
terface
d
to
the micr
oco
n
troller w
her
e two for them are
used for
arm
mov
e
me
nt w
h
ile the ot
her two are for the bo
d
y
mov
e
me
nt. The an
droi
d a
p
p
l
i
c
ation
devic
e t
r
ans
mitter w
ill
acts as a re
mo
te control w
h
i
l
e
the rece
iver
e
n
d
Blueto
o
th
devi
c
e is
fed
to th
e
micr
ocontro
ll
er to
driv
e D
C
motors
vi
a
motor dr
iver IC
for
nec
essary
w
o
rk
.
Re
mote o
per
ation is ac
hiev
ed
by any smart pho
ne w
i
th
An
droi
d OS; upon
a GUI (Graphical User Interfa
c
e
)
base
d
touch sc
reen o
per
ation.
Ke
y
w
ords
:
pic
k
and pl
ace, bl
uetooth tec
hno
logy, rob
o
tic ve
hicle
Copy
right
©
2015 In
stitu
t
e o
f
Ad
van
ced
En
g
i
n
eerin
g and
Scien
ce. All
rig
h
t
s reser
ve
d
.
1. Introduc
tion
Primary stu
d
y
is required
to refer the in
format
ion o
r
tech
nical kno
w
led
ge that is criti
c
al
to develo
p
th
e de
sig
n
s in
orde
r to
me
e
t
the exp
e
cta
t
ions. Seve
ra
l literatu
r
e
re
views ha
d
be
en
perfo
rmed. R.Anusuya De
vi
presented one
resear
ch
pape
r aime
d
at the desi
g
n and
con
s
tructs
a pick and pl
ace roboti
c
vehicl
e whi
c
h i
s
po
wer
ed by
solar e
nergy. The roboti
c
vehicl
e desi
g
n
e
d
can b
e
ope
ra
ted without h
a
ving any po
wer
sup
p
ly;
it can auto
m
at
ically gen
erat
e the elect
r
ici
t
y
whi
c
h is
com
p
letely utilized by t
he robot itself with the help of 80
51 microcontroller, sol
a
r panels
and Lig
h
t De
pend
ent re
sistors (LDR).
The pa
pe
r prese
n
ts a
rob
o
tic sy
stem t
hat is
cap
abl
e of both pi
cking
up a
nd relea
s
ing
micro o
b
je
cts with
high
a
c
curacy,
relia
b
ility, and spe
ed [1]. Th
e
system em
plo
y
s a
novel
mi
cro
electrome
c
h
a
n
ical
sy
stem
s (MEMS) m
i
cro
g
r
ippe
r with
a
controllable plun
gi
ng stru
cture to
impact
a
micro
obje
c
t tha
t
gain
s
sufficient mom
ent
um to
overcome
adh
esio
n force
s
.
Hig
h
-
spe
ed, auto
m
ated mi
cro
roboti
c
pi
ck-a
nd-pl
ace was reali
z
ed
by
visually re
co
gnizi
ng the
micro
gripp
e
r a
nd
microsphe
re
s, by visually detecti
ng th
e conta
c
t of
the micro
g
r
ippe
r with t
h
e
sub
s
trate, a
nd by vision
-ba
s
ed
cont
rol.
Fadnavis Shubham
had pr
esent
ed a pap
er that
prop
oses to
a ne
w and
u
n
ique te
chni
q
ue to re
gulat
e wirele
ss
ca
r with the
hel
p of GUI thro
ugh
Visual Ba
sic
tool [2]. GUI is the main
controlli
ng
sy
stem that ge
nerate
s
fou
r
different cod
ed
sign
als which
are g
ene
rate
d with
the
he
lp of
vi
sual
b
a
si
c. Th
ese
signal
s
were transmitted
a
n
d
receive by the FM re
ceiver and pro
c
e
s
s for dc moto
r rotation.
In the paper
of Automation of Mobile Pick
an
d Pla
c
e Roboti
c
System for Small Food
Industry,
the
purp
o
sed
i
s
t
o
de
sig
n
a m
i
cro
c
o
n
troll
e
r based on reli
able and hig
h
pe
rform
a
n
c
e
roboti
c
syste
m
for man
u
facturi
n
g
line
[3]. A spe
c
ial
gri
ppe
r i
s
d
e
sig
ned
to pi
ck an
d pl
ace
the
objects with flexibility.
The
sy
stem consi
s
ts of
three basi
c
subsystem
whi
c
h is
1) Moveable
base,
2) Rota
tional
ma
nipu
lator whi
c
h consi
s
ts a
ste
pper moto
r th
at move in
st
ep an
gle to
3
6
0
degree
and
3
)
the
Mag
neti
c
g
r
ip
per unit
ba
sed
on
ele
c
trom
agn
etic effect
which operate on 1
2
V
DC si
gnal. In
the a
r
ticle
of
the
Wireless Rem
o
te
Con
t
rol Car Syst
em Ba
sed
on
ARM9, it
ha
d
state that th
e
wirele
ss rob
o
t syste
m
i
s
usu
a
lly
comp
ose
d
by
a m
i
cro
c
o
n
troll
e
r syste
m
whi
c
h
usu
a
lly co
nst
r
aine
d by h
a
r
dware
c
h
a
r
a
c
t
e
ri
st
ic
s a
n
d
dif
f
i
cult
t
o
s
a
t
i
sf
y
many
compl
e
x
c
ont
rol
while e
n
suri
n
g
system
real
-time [4]. View of th
is, the
article
ba
sed
ARM9-struct
u
red
pro
c
e
ssor
and emb
edd
ed Linux sy
stem, optimize
d
and imp
r
ov
ement the versatility and real-time
cap
a
city
of wirele
s
s
re
mote cont
rol
car. Th
e rob
o
t
sy
st
em colle
cted the data
by se
n
s
ors a
nd tran
smits t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
De
velo
pm
ent of Prototype
Model for
Wireless
Based
Controlled Pi
ck a
nd…
(Mr.
Low Kok
Ha
u)
111
data to the P
C
con
s
ole by
WIFI. PC se
nt the
final commen
d
s to
robot a
nd the
robot exe
c
ut
es
them [5].
2
.
Materials and
Method
s
The materi
al
s req
u
ired for the develop
ment of
prot
otype, model
in this resea
r
ch
wo
rk
has b
een di
scu
s
sed in det
ail.
2.1.
DC Mo
tor
s
(Brush
ed RF-500T
B-125
60
)
A DC motor is an elect
r
i
c
motor that
runs o
n
direct cu
rrent (DC) ele
c
tri
c
ity. In an
y
electri
c
m
o
to
r, ope
ration i
s
ba
se
d on
simple
ele
c
tromagn
etism.
A cu
rre
nt-ca
rrying co
ndu
ctor
gene
rate
s a
magneti
c
fiel
d; whe
n
this is then
pl
a
c
ed i
n
an e
x
ternal ma
gn
etic field, it will
experie
nce a
force p
r
op
o
r
tional to the
current
in the co
ndu
ctor and to the stren
g
th of the
external m
a
g
netic field.
T
he inte
rnal
configurat
ion
of a DC m
o
tor i
s
de
sig
n
e
d
to ha
rne
ss the
magneti
c
inte
ractio
n b
e
twe
en a
current-carrying
con
ducto
r a
nd
a
n
extern
al m
agneti
c
field
to
gene
rate rota
tional motion.
2.2.
AT89S5
2
Microcon
trolle
r
A micro
c
ont
roller mo
dule
built on a hig
h
perfo
rman
ce CISC CP
U AT89S52, 40
-pin with
8K bytes
of in-system
p
r
og
ramm
able
CMOS
and
high
- de
nsit
y nonvolatile
Flash me
m
o
ry
techn
o
logy. T
he micro
c
o
n
trolle
r having
32 prog
ramm
able I/O line
s
, three 16
-bit
timer/co
unte
r
s
and up to 8 in
terru
pt sou
r
ces.
2.3.
L293
D Motor
Driv
er ICs
L293
D is a
dual H-bri
d
g
e
motor driv
er integrat
ed
circuit (IC). Motor drive
r
s a
c
t as
curre
n
t ampli
f
iers
sin
c
e
th
ey take
a lo
w-cu
rre
nt
co
ntrol sign
al and provid
e a
high
er-current
sign
al. Thi
s
highe
r
curre
n
t
sign
al is u
s
ed to d
r
ive t
he moto
rs. L
293
D contain
s
two inb
u
ilt
H
-
bridg
e
d
r
iver circuit
s
. In its co
mmon
mode
of
op
eration, t
w
o
DC
motors can
be d
r
i
v
en
simultan
eou
sl
y, both in forward a
nd reverse di
re
ction
.
Figure
1
sh
ows t
he con
n
e
ction of
L29
3D
to two DC motor.
Figure 1. L29
3D conn
ectio
n
2.4.
LM7805 Voltage Re
gulator
The
LM78XX
/
LM78XXA series of
three-terminal
posi
tive regul
ators are availabl
e in the
TO-2
20/D-PA
K pa
ckage
a
nd
with
seve
ral fixed o
u
tpu
t
voltages,
m
a
kin
g
them
u
s
eful i
n
a
Wi
de
rang
e of appli
c
ation
s
. A voltage reg
u
lato
r 7805 i
s
use
d
to get the consta
nt 5V DC su
pply.
2.5.
MCT2E O
c
to
– Couplers
Opto-i
solato
rs a
r
e
a 6
pin
IC ma
de
up
of 1 LE
D a
n
d
a tra
n
si
sto
r
but with
no
e
l
ectri
c
al
con
n
e
c
tion
b
e
twee
n the
t
w
o, ju
st
a b
e
a
m of li
ght. Fi
gure
2
sho
w
t
he fun
c
tion
al
block
diag
ra
m of
MCT2E. If input of the dio
de is
ze
ro a
n
d
other
end
of diode i
s
g
r
ound th
en th
e output
will be
one.
Whe
n
logi
c zero is give
n a
s
input it doe
sn’t co
ndu
ct whi
c
h give
s logic
zero as
output.
Whe
n
logic 1
is given as in
put it makes tr
an
sisto
r
switche
d
on and this ma
ke
s the output
is logi
c ze
ro as coll
ecto
r of transi
s
tor i
s
co
nne
cted t
o
grou
nd.
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 14, No. 1, April 2015 : 110 – 11
5
112
Figure 2. Block
Diag
ram o
f
MCT2E
2.6.
Bluetooth
Br
eakou
t
Bo
ar
d (Re
ceiv
e
rs)
A Bluetooth module tran
smits data via
low-po
wer
radio waves. I
t
communi
cat
e
s on
a
freque
ncy
of 2.45 gig
ahe
rt
z.The l
o
w
po
wer limits
th
e
ran
ge of
a
Bluetooth d
e
v
ice to a
bout
10
meters (32 f
eet). Bluetoot
h doesn't req
u
ire line
of si
ght betwee
n
comm
uni
cati
ng device
s a
n
d
can
con
n
e
c
t up to eight de
vices
simulta
neou
sly withi
n
the same
ra
dius.
2.7.
Blue Co
ntrol
V2.0 (Applic
ation)
A basic universal
remote
control for Bluet
ooth ena
ble
d
device
s
su
ch a
s
Androi
d based
sma
r
t phon
e to a microcont
rolle
r.
3. Proposed
M
odel
The p
r
o
pose
d
mod
e
l u
s
es Blu
e
tooth
tech
nology
as
a comm
unication p
r
o
t
ocol to
comm
uni
cate
with the AT89S52 mi
cro
c
ontrolle
r wit
h
duly pulled
up resi
sto
r
s.
The pro
g
ra
m is
written so tha
t
every time button pre
s
sed
from
the sm
artpho
ne inte
rface
(Blue Control V2.0), the
corre
s
p
ondin
g
ASCL
L
cod
e
for th
e la
be
l will b
e
sent
to the Blueto
o
th mod
u
le
a
llocate
d on
th
e
roboti
c
vehi
cle. Th
us t
he exa
c
t chara
c
te
rs
t
r
ansmitted
is re
ceived
b
y
the re
cei
v
ing
Microcontroll
er at its input
pins
so that
approp
riate o
u
tput is
ava
ilable at
port
2 to drive
mo
tor
driver I
C
L2
93D fo
r mov
e
ment of th
e rob
o
tic ve
hicle i
n
forward b
a
ckwa
r
d and l
e
ft ri
ght
movement. T
o
other moto
rs a
r
e al
so u
s
ed for a
n
o
peratio
n up
& down an
d gripp
e
r o
pera
t
ion
open & clo
s
e
d
throug
h se
ries re
si
stor o
f
10 ohms/2
watt from the
output of the se
con
d
mo
tor
driver IC L
2
9
3
D.
Thus while
motor
ope
rat
e
s i
n
no
rmal
co
ndition th
e ru
nnin
g
cu
rre
nt re
sult
s
0 no
rmal
voltage dro
p
acro
ss the 10R/2
W ohm
resi
stor a
s
the motor ca
n run in clo
c
kwi
s
e (or) a
n
ti-
clo
c
kwi
s
e. A bridg
e
re
ctifier com
p
ri
sing
of
4 numbers 1N400
7 are
used with p
o
tential divides
arrang
ement
at it dc output to
drive LED type op
to-isol
a
tor
su
ch a
s
MCT2
E. The potential
divider i
s
so adju
s
ted that
the voltage at
the LED
of a
d
juste
d
that the vo
ltage at
the LED of t
he
opto-i
s
olato
r
i
s
in suffici
ent to drive t
he internal trans
i
s
t
or into c
o
nduc
tion.
Figure 3. Block di
agram of
entire
sy
st
e
m
f
o
r t
he rob
o
t
i
c v
e
hicl
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
De
velo
pm
ent of Prototype
Model for
Wireless
Based
Controlled Pi
ck a
nd…
(Mr.
Low Kok
Ha
u)
113
So that a P-N-P transi
s
to
r BC5
57 i
s
d
e
void of
bia
s
i
ng current th
at hold
s
the i
n
terrupt 0
pin at lo
gic h
i
gh b
e
ing
co
nne
cted from
its emitte
r.
While
for
an
y rea
s
on
mot
o
r i
s
b
r
ou
ght
to
locked rotor
condition o
w
in
g to overload
or re
a
c
hi
ng the dea
d end
develop
s a hi
gher voltag
e at
the 10
ohm
resi
stor th
at in turn
switch
ed O
N
t
he
o
p
to-isolato
r L
E
D that finall
y
drives th
e
PnP
transi
s
to
r to GND bri
ngin
g
the interru
p
t 0 to l
ogic zero state. The prog
ram
is so
written
that
once
interrup
t
zero occu
rs low,
no su
ch comm
and
wo
uld gen
erate any input to the motor
driv
er
IC for a
n
y direction fo
r tha
t
motor move
ment .Only th
e other direct
ion rotatio
n
is possibl
e fro
m
the com
m
an
d. This h
e
lp
s in
soft cat
c
hin
g
arra
ng
ement of the
arm g
r
ipp
e
r to avoid ex
tra
pre
s
sure app
lied to the o
b
ject
s to be
picked a
nd a
l
so its u
p
an
d down mov
e
ment simil
a
rly.
Figure 3 sh
o
w
s the bl
ock
di
agram of en
tire system.
4.
Resul
t
and Discussion
The pro
c
e
s
s flow of the entire system i
s
sh
o
w
n in belo
w
Figure 4. Whe
n
the users p
r
e
s
s
the button on the Blue
control a
p
p
licati
on, the
ASCII code will be transmitted to
the
microcontroll
er throug
h th
e Bluetooth
module l
o
cat
ed at the
rob
o
tic vehi
cle.
The mi
croco
n
t
roller
will gen
erate
the co
rre
ct o
u
tput to the motor d
r
iv
er for the DC mo
tor movemen
t. In this model, a
interrupt fun
c
tion is
use in
ord
e
r to
sto
p
t
he move
m
ent of the a
r
m and
gri
ppe
r when fo
r a
n
y
rea
s
on the DC motor is b
r
ought to locked rotor
co
n
d
i
t
ion owing to overloa
d
or reaching the d
ead
end when the
grippe
r pi
cke
d
an obje
c
t.
Figure 4. Pro
c
e
ss Fl
ow
Some diag
ra
m of the prototype was
sh
own at
belo
w
.
Figure 5 sh
o
w
s the intern
al view o
f
the prototype
base
and Fi
g
u
re 6
sho
w
s the way of the
printed
circui
t board
wa
s p
l
ace in
sid
e
th
e
roboti
c
vehi
cl
e. Mean
while
Figure 7 sh
ow the
di
ag
ram of the ro
botic a
r
m, g
earb
o
x and t
h
e
mech
ani
cal g
r
ippe
r. Finall
y
Figure 8
show the
si
d
e
view of the entire pi
ck a
nd pla
c
e rob
o
tic
vehicle.
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 14, No. 1, April 2015 : 110 – 11
5
114
Figure 5. Vehicle Base (Int
ernal Vie
w
)
Figure 6. Circuit Board an
d
Base Plate
Figure 7. Rob
o
tic Arm and
Mech
ani
cal G
r
ippe
r
Figure 8. Pick And Pl
ace Robotic Vehi
cl
e
(Side View)
Step-by-step Instru
ction
M
anual
to u
s
e the Prototype:
1)
First of all
se
arch for Blu
e
Control V2.0
(Figu
r
e 9
)
at
Google Play
and in
stall the
app.
2)
After installin
g, go to the apps a
nd re
ad
y for usage.
3)
Turn o
n
the
Bluetooth a
nd scan fo
r
t
he device
called “Linvor” or “HC-05
”and
con
n
e
c
ted to the device by
enter pin 12
3
4
.
4)
Go to the Blue Co
ntrol a
pp and p
r
e
s
s
the option
s
button and
click the con
nect
option. Then
it will give a l
i
st of devices
available. See for “Linvo
r” or “HC-05
” and
again e
n
ter th
e pin 123
4 an
d then cli
c
ks “OK”.
5)
Wait for a
while until it
gi
v
e
s
th
e co
nfirmation “Conn
ected
to Linv
or or
HC-05
”
then
the app n
o
w ready for
co
mmuni
cation
with the Blue
tooth modul
e
in the pick
and
place rob
o
tic
vehicle.
6)
Below a
r
e the
operatio
n proce
dure:
7)
Click up b
u
tton for Rob
o
t Forward
8)
Click do
wn b
u
tton for Rob
o
t Backwa
rd
9)
Click left button for Ro
bot Left
10)
Click rig
h
t button for Rob
o
t Right
11)
Click A button for Rob
o
t G
r
ippe
r Op
en
12)
Click B button for Rob
o
t G
r
ippe
r Cl
ose
13)
Click
C button for Robot Arm Up
14)
Clic
k D butto
n for Rob
o
t Arm Do
wn
15)
Click centre b
u
tton for Stop operatio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
De
velo
pm
ent of Prototype
Model for
Wireless
Based
Controlled Pi
ck a
nd…
(Mr.
Low Kok
Ha
u)
115
Figure 9. Bluetooth Rem
o
te Contro
l Interface
(Blue Control V2.0)
5. Conclu
sion
The ro
botic v
ehicl
e is de
si
gned
with a soft ca
tching
grippe
r that can b
e
co
ntrolled by
android OS
based smart
phon
e availa
ble in the
m
a
rket for re
mote ope
rati
on. The an
d
r
oid
appli
c
ation d
e
vice
tran
smi
tter
will act
s
as a
re
mote
control
while
the receiver end
Bluetoo
th
device i
s
fed to the micro
c
ontrolle
r to drive DC mo
tors
via motor driver
IC for nec
e
ss
ary work
.
Remote
o
peration i
s
a
c
hi
eved by
any
Smartp
hon
e
with
Android
OS; up
on
a
GUI
(G
ra
phi
cal
User Interfa
c
e)
based to
uch screen
op
e
r
ation.
Us
ers
friendly a
nd i
nexpen
sive i
n
pri
c
e
are
so
me
of the advan
tages
of Blu
e
tooth techn
o
logy u
s
ed
i
n
co
ntrollin
g
the ro
botic v
ehicl
e. The
r
e
f
ore
controlling
th
e ro
botic veh
i
cle by
sm
art
phon
e
will
come true. Th
e prototype
can
be fu
rth
e
r
enha
nced by
interfaci
ng it
with a
wirel
e
ss came
ra
so that the
p
e
rson
cont
rol
ling it ca
n view
operation of t
he arm and
g
r
ippe
r remote
ly and with th
e IR sen
s
ors
to allow the
robotic ve
hicle
to
avoid any ob
stacl
e
s
while
moving to the destinatio
n p
o
int.
Referen
ces
[1]
P Sathy
a
Priy
a
,
P Rathi,
R
A
nusu
y
a
D
e
vi.
Smart Host
M
i
crocontro
ller
b
a
sed
sol
a
r
po
w
e
re
d too
l
w
i
t
h
robotic
arm.
Int
e
rnati
ona
l J
our
nal
of Mec
h
a
n
i
c
al
E
ngi
ne
erin
g a
n
d
Ro
botics
Res
earch
.
20
13; 2(
3): 1
5
-
22.
[2]
Yong
Z
h
a
ng,
Brand
on K,
C
hen,
Xin
y
u
L
i
u
,
Yu
Su
n. Aut
onom
ous r
o
b
o
t
ic pick-a
nd-
pl
ace
of micro
obj
ects.
IEEE transactions on Robotics.
201
0
;
26(1): 200-2
0
7
.
[3]
F
adnav
is Shub
ham. A desig
n
of GUI Based
W
i
reless Rob
o
tic Car.
Rese
arch Jour
nal of
Engin
eeri
n
g
Scienc
es
. 201
2; 1(2): 26-31.
[4]
Mir Sajja
d Hus
s
ain T
a
lpur, Murtaza Huss
ain
Shai
kh. Auto
mation of Mob
ile Pick an
d Pl
ace Ro
boti
c
S
y
stem for Small F
o
o
d
Indust
r
y
.
IEEE Digital Library.
20
12:
522-
526.
[5]
W
ang Sh
aoku
n
, Xi
ao
Xiao, Z
hao
Hon
g
w
e
i.
T
he W
i
reless
Re
mote C
ontro
l Car Syste
m
B
a
sed
on A
R
M
9
. Internatio
nal
Confere
n
ce o
n
In
strumentati
on, Measur
em
ent, Com
puter
Commun
i
cati
o
n
and C
ontro
l.
Beiji
ng. 20
11:
887-
890.
Evaluation Warning : The document was created with Spire.PDF for Python.