DANCING ROBOT

SUZLI ELIMI BINTI ZULKEFLI

This Report Is Submitted In Partial Fulfilment of Requirements for

The Bachelor Degree of

Electronic Engineering (Industrial Electronic)

Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer

Universiti Teknikal Malaysia Melaka

April2007

Tajuk Projek

Sesi Pengajian

Saya

UNIVERSTI TEKNIKAL MALAYSIA MELAKA FAKULTI KEJURUfERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BOR>\NG PENGESAHA~ STATUS LAPORA'\'

PROJEK SARJANA MUDA II

.. . ~~-~ft.~.<?.~ .................. .. ............. ................ .. .. .... ............ . .

(HURUF BESAR) mengaku membenarkan Laporan Projek Satjana Muda ini disimpan di Perpustakaan dengan syarat­syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2 . Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran an tara institusi

pengajian tinggi.

4. Sila tanda.kan ( ) :

D

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SULIT*

TERHAD*

TIDAK TERHAD

(Mengandungi maklumat yang berda!jah keselamatan atau kepentingan Malaysia seperti yang tennaktub di dalam AKT A RAHSIARASM11972)

(Mengandungi maklmnat terhad yang telah ditentukan oleh organisasilbadan di mana penyelidikan dijalankan)

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"Saya akui laporan ini adalah basil kerja saya sendiri kecuali ringkasan dan petikan

yang tiap-tiap satunya telah saya jelaskan sumbemya.

Tandatangan : ...... . ~ : .. .... .... .......... .

Nama Penulis : SUZLI ELil\.11 BT ZULKEFLI

Tarikh : APRIL 2007

ll1

IV

Sayafkami akui bahawa saya telah membaca karya ini pada pandangan sayafkami karya

ini adalah memadai dari skop dan kualiti untuk penganugerahan Ijazah Sarjana Muda

Kejuruteraan Elektronik (Elektronik Industri)."

Tandatangan

Nama Penyelia

Tarikh

: EN. ZULKARNAIN B ZAINUDIN

: .. . ?::r. .~ .~. ~ .. ~ ...

v

For my beloved Mama and Abah

Vl

ACKNOWLEDGEMENT

I would like to express my sincere appreciation to En. Zulkamain b. Zainudin,

my supervisor for his continuous support, guidance and encouragement towards the

completion of the project.

My deepest gratitude and appreciation to Pn Zahariah, the facilitator who is

responsible in providing guidance for the completion of this Bachelor Degree Project.

My appreciation to my family and my friends especially for the encouragement,

motivation and inspiration to complete this project

My appreciation to the rest of lecturer and technician for the knowledge and

inputs that were given.

Thank you.

Vll

ABSTRACT

This project was conducted between two tasks, which are hardware and software

preparation. This report represents the hardware task fulfilment. Dancing Robot was

design to be a mobile robot which it has wheels at its leg as movement method. This

Dancing Robot was designed to dance according to the programmed music within a

specific time frame. The methods used in developing this project including research on

previous project and studying PIC. This robot was designed in hardware and software

interfacing which will allow it to dance using motors as the driver and PIC

programming as the controller. This robot will be control with a start button and will be

moved according to the program in the PIC which will initialize the movement of the

hands and legs. The program will be bum in PIC 16F877 microprocessor which will

move the servo motors as the driver of the arms. Beside servo motor, DC motor with

gears was used to move the legs of the robot. With th~ interface of the circuit and

microprocessor, Dancing Robot will move as if it dances according the music played.

Vlll

ABSTRAK

Projek ini telah dijalankan dalam dua bahagian, iaitu dalam penyediaan perisian

(software) dan perkakasan (hardware). Laporan ini membentangkan penyediaan

perkakasan dalam menyiapkan Dancing Robot. Dancing Robot telah direka sebagai

sebuah robot bergerak dimana ia mempunyai roda di bahagian kakinya sebagai alat

pergerakan. Robot ini telah direka untuk menari mengikut musik saperti yg

diprogramkan dalam sela masa yang tertentu. Kaedah-kaedah yang digunakan untuk

membangunkan projek termasukalah melakukan kajian terhadap projek seumpamanya

dan juga mempelajari PIC. Robot ini direkabentuk di dalam bentuk perisian dan

perkakasan yang mana akan menghasilkan pergerakan tarian yang menggunakan motor

sebagai penggerak dan program PIC sebagai kawalan. Robot ini akan dikawal oleh satu

butang pemula dimana kemudiannya akan bergerak berdasarkan araban program di

dalam PIC yang akan menyatakan pergerakan pada tangan dan kaki robot. Program ini

akan di prograrnkan di dalam mikropemproses PIC16F877 A yang mana akan

menggerakkan motor servo pada lengan robot. Di samping motor servo, motor DC juga

akan digunakan untuk menggerakkan kaki robot. Dengan adanya perantaraan diantara

litar dan mikropemproses, Dancing Robot akan bergerak seperti menari mengikut lagu

yang dimainkan.

IX

TABLE OF CONTENT

CHAPTER CONTENT PAGE

PROJECT TITLE CONFESSION FORM lll

SUPERVISOR APPROVAL FORM lV

DEDICATION v ACKNOWLEDGEMENT Vl

ABSTRACT Vll

ABSTRAK Vlll

TABLE OF CONTENT lX

LIST OF FIGURES Xl

LIST OF TABLES Xlll

LIST OF APPEDICES XIV

I INTRODUCTION

1.1 INTRODUCTION 1

1.2 PROJECT OBJECTIVE 2 1.3 PROBLEM STATEMENT 2 1.4 SCOPE OF WORK 3 1. 5 REPORT STRUCTURE 3

II LITERATURE REVIEW

2.1 INTRODUCTION 4 2.2 SONY QRIO 5 2.3 UTM'S ROBODANCE 6 2.4 COMPONENT THEORY AND ITS USAGE 7

2.4. 1 PIC 16F877 A 8 2.4.2 LM7805 11 2.4.3 L293D 12 2.4.4 SERVO MOTOR 14

III

IV

v

2.4.5 DC MOTOR 2.5 SOLUTION :METHODS

PROJECT METHODOLOGY

3.1 INTRODUCTION 3.2 RESEARCH AND STUDY 3.3 DESIGNING 3.4 ASSEMBLY AND TESTING 3. 5 FINALIZING

RESULT AND DISCUSSION

4.1 INTRODUCTION 4.2 SIMULATION TEST

4.2. 1 SUPPLY CIRCUIT SIMULATION 4.2.2 FULL CIRCUIT SIMULATION

4.3 CIRCUIT BUILD-UP AND TESTING 4.3.1 SOLDERING AND TESTING 4.3 .2 TROUBLESHOOTING

4.4 RESULTS 4.5 DISCUSSION

CONCLUSION AND SUGGESTIONS

5.1 CONCLUSION 5.2 SUGGESTIONS

REFERENCES

16 17

19 21 24 28 34

35

36 37

38 39 44

45

46 47

51

X

Xl

LIST OF FIGURES

NO TITLE PAGE

2.1 Sony QRIO 5

2.2 UTM' s ROBODANCE 6

2.3 PIC16F877 A microcontroller 7

2.4 PIC16F877a Pin Description 9

2.5 LM7805 11

2.6 Block Diagram ofLM7805 11

2.7 L293D 12

2.8 Block Diagram of L293D 13

2.9 Servo motor separated component 14

2.1 Servo Motor Pulse signal 15

2.11 DC motor 16

3. 1 Project Methodology Flow Chart 20

3.2 Block Diagram 21

3.3 H-Bridge Operation 23

3.4 DC Motor with gears 24

3.5 Motor placement on the robot design 25

3.6 Simulation circuit for the project 26

3.7 Stripboard (Component Side) 28

3.8 Stripboard (Solder Side) 29

3.9 Circuit Mounted on Stripboard 32

3.1 Full Circuit Construction with Motors 33

Xll

4 .1 Supply simulation circuit 36

4.2 Full project simulation circuit 37

4.3 Troubleshooting Flow Chart 39

4.4 Soldering on The Stripboard 42

5.1 HM2007 Pin Description 48

XIII

LIST OF TABLES

NO TITLE PAGE

4.1 Supply Circuit Test Result 44

4.2 PIC Circuit Test Result 44

4.3 Motor Movement Result 45

5.1 HM2007 Pin Description 49

NO

Al

A2

A3

LIST OF APPENDICES

TITLE

PIC16F877 A DATASHEET

L293D DATASHEET

LM7805 DATASHEET

PAGE

52

67

73

XIV

1

CHAPTER I

1.1 INTRODUCTION

Lately, the field of cooperative mobile robotics has received a lot of attention

from various research institutes and industries. A focus of these research and

development activities is that of distributed motion coordination, since it allows the

robots to form certain patterns and move in formation towards cooperating for the

achievement of certain tasks. Motion planning algorithms for robotic systems made up

from robots that change their position in order to form a given pattern is very important

and may become challenging in the case of severe limitations, such as in

communication between the robots, hardware constraints, obstacles etc.

In the beginning, robots only used on a singular' function or purpose that is as an

aid to human. Nowadays, the robot not also assigned to do work but also entertain. As

part of it, dancing robots were created. Dancing robots grab people's attention with heir

ability to dance on the floor especially on their own feet. Sony QRIO surely one of the

lead example of world's robotic technologies. Its smooth movement when dancing

captures everyone's heart. These inventions increase people's interest on robotic world.

Many robot kits were design to let the public having them as a part of hobby. As for this

project, the robot will have two legs instead of moving platform, previously done by

UTM' s student, to let the robot have more humanoid looking. But still we cannot afford

to have it dance according any music played. But it still fun to have it moving while the

music played.

2

1.2 PROJECT OBJECTIVE

The main objective of this project is to design a new Dancing Robot. This

dancing robot can be characterized by mobile robot where wheels will be used for its

leg's movement. This dancing robot will dance according to the programmed movement

along with the chosen music within a specific time frame. This robot will design in

hardware and going to operate by interfacing the software to control all robot's

movements due to the dancing steps that have been programmed. To fulfil this need,

PIC16F877A microprocessor was used to apply the software programming on the

circuit. As for the show, one start button will be use to start the performance.

1.3 PROBLEM STATEMENT

There are several casualties to be faced in terms to work out this project:

1.3.1 Software that is going to be used must be learned and understand first before it

can be write and run according requested specification. In this project,

Programmable Integrated Circuit (PIC) Assembly Language is chosen as the

software device to fulfill the programming terms of the project.

1.3.2 The motor control and drives are other tasks that must be settled as the main part

of the robot. Since the robot have movable link, the motor characteristics must

be considered at any cost to suit the need of the robot, such as weight, torque

provided, rotational speed and the control panel need for each motor used. And

for this project, two servo motor and a DC motor was chosen to be placed in the

robot.

1.3.3 The main problem for the whole project is hardware and software interfacing. If

there is any mistakes in preparing either hardware or software, interfacing both

of them may lead to a failure. The crucial part is to troubleshoot the project and

2

1.2 PROJECT OBJECTIVE

The main objective of this project is to design a new Dancing Robot. This

dancing robot can be characterized by mobile robot where wheels will be used for its

leg's movement. This dancing robot will dance according to the programmed movement

along with the chosen music within a specific time frame. This robot will design in

hardware and going to operate by interfacing the software to control all robot's

movements due to the dancing steps that have been programmed. To fulfil this need,

PIC16F877 A microprocessor was used to apply the software programming on the

circuit. As for the show, one start button will be use to start the performance.

1.3 PROBLEM STATEMENT

There are several casualties to be faced in terms to work out this project:

1.3.1 Software that is going to be used must be learned and understand first before it

can be write and run according requested specification. In this project,

Programmable Integrated Circuit (PIC) Assembly Language is chosen as the

software device to fulfill the programming terms of the project.

1.3.2 The motor control and drives are other tasks that must be settled as the main part

of the robot. Since the robot have movable link, the motor characteristics must

be considered at any cost to suit the need of the robot, such as weight, torque

provided, rotational speed and the control panel need for each motor used. And

for this project, two servo motor and a DC motor was chosen to be placed in the

robot.

1.3 .3 The main problem for the whole project is hardware and software interfacing. If

there is any mistakes in preparing either hardware or software, interfacing both

of them may lead to a failure. The crucial part is to troubleshoot the project and

3

debug the error. In this case, part by part testing will be required in order to

locate the error and fixed or reduce it.

1.4 SCOPE OF WORK

The scopes of work include the research on dancing robot before and study

about the Programmable Integrated Circuit (PIC) software for robot's programming. In

this case, study on this software is needed deeply in order to understand and use the

assembler language. Other than that, study on integrated circuit (16F877 A) and types of

motors and how to control them must be done before designing. At the same time, study

about robot's behavior and specification through previous work piece such as their

movement, control mode and so on.

1.5 REPORT STRUCTURE

Generally, this report was divided into several main chapters. The first chapter is

the introduction chapter. This chapter gives an overview of the project, the objective;

problem statement and scope of work that will be carry through the whole project

accomplishment. The literature review took place in second chapter, including the

information of some previous project or other project. The operation of the circuit and

component related can be found in the third chapter, where the project development

processes were described. Chapter four will describe the result and findings of the

project developed. Any problem will occur in any project developed, so chapter five

will do the problems description and steps taken to overcome them. The conclusion in

sixth chapter includes all of the idea of improving, the advantages and disadvantages of

the project. This report was divided into several chapter as a purpose to make an easy

arrangement and easy for those who wants to read it.

4

CHAPTER II

LITERATURE REVIEW

2.1 INTRODUCTION

This project is a robot that has legs, considered as the walker robot. Different

from the other mobile robot, the movement of the robot uses 2 legs since it representing

human movement method in dancing. Essentially, walker robots use legs for

locomotion. Locomotion by legs is hundred million of years old. In contrast to this,

wheels are relatively a new science, being only 7,000 to 10,000 years old. Wheels are

good but they require a relatively smooth surface to ride upon. Just look at aerial

photograph of any city or suburb to see the highways and streets crisscrossing the

landscape.

5

2.2 SONY QRIO

Figure 2.1: Sony QRIO

One of the best creations in robotic world! QRIO was developed in latest 3D

navigation system developed by the Information Technologies Laboratories at Sony

Corporation to open up new possibilities in robotics, the Sony QRIO robot is one of the

world ' s most sophisticated and intelligent humanoids. Being Sony's Corporate

Ambassador, QRIO is taking advantage of various opportunities around the world to

communicate Sony' s vision of a world of dreams, entertainment and curiosities as well

as introducing the technology that makes this vision a reality.

The main point that this robot was picked out as one of this project literature

review is THESE ROBOTS CAN DANCE. But despite of its intelligence, these robots

are hard to compare with seen at their technology, budget and engineers involve. But as

an example they are good to set look at.

6

2.3 ROBODANCE UTM

Figure 2.2: UTM's ROBODANCE

This is a project that the students of UTM produce. It is a good robodance that

fulfil all the criteria needed. This robot seem clearly can dance with the music even

though that the step of movement a bit faster but still have its own entertainment value.

But still it is not a two-leg robot even that the robot has leg movement. The robot was

placed on a moving platform as it moves on the dance floor.

This project of Dancing Robot that is going to develop actually builds in terms

to enter ROBOFEST competition. But since the competition was terminated, this

project will continue as another phase of robotic implementation project in KUTKM.

This project will be build as it fulfil the objective (maybe quite same with the UTM's)

but will be build on two legs, not platform. That is the main different with the UTM' s

but still can' t afford to achieve the technology as the QRIO' s. As long as the robot can

dance on its own legs, that's enough to satisfy this project's objective.

7

2.4 COMPONENT THEORY AND ITS USAGE

This dancing robot requires two integrated circuits that are PIC 16F877 A

microprocessor, voltage regulator LM7805 and L293D along with two servo motors and

a DC motor. The specific briefing will be described as below.

2.4.1 PIC16F877A

Figure 2.3: PIC16F877A microcontroller

The microcontroller ability is to store and a run umque program makes it

extremely versatile. For instance, one can program a microcontroller to make decisions

based on predetermine situations and sensor readings. Its ability to perform math and

logic function allows it to mimic sophisticated logic and electronic circuits. The

operation will be discussed below.

8

2.4.1.1 Circuit Operation

The output of the microcontroller can control direct current (DC) motor drives

(using DC or pulse-width modulation (PWM)), servo motor positioning, stepper motor

and etc. to program a microcontroller, all that are needed is a microcontroller

(PIC16F84/ PIC16F877 or others) and software relevant to what language we decide to

used on the IC. As for this project, we used the C language and the suitable software is

MPLab.

PIC 16F877 A is a powerful (200 nanosecond instruction execution) yet easy-to­

program (only 35 single word instructions) CMOS FLASH-based 8-bit microcontroller

which packs Microchip's powerful PIC® architecture into a 40 pin package. The

PIC 16F877 A features 256 bytes of EEPROM data memory, self programming, an lCD,

2 Comparators, 8 channels of 10-bit Analog-to-Digital (AID) converter, 2

capture/compare/PWM functions, the synchronous serial port can be configured as

either 3-wire Serial Peripheral Interface (SPI™) or the 2-wire Inter-Integrated Circuit

(12CTM) bus and a Universal Asynchronous Receiver Transmitter (USART). The code

for the microcontroller can be written in either in C language or Basic in microcode

studio.

40~Pin PDIP

MCLR:VPP ___.... R.A£:t::AJJC! -RA1 :fi.N1-

R.t>.2''A.tl2Nr~rr- :C'...'nn­R.tl.2,.-.AN3:VP. EF+­

Rf\.4:TOCKiiC10Ul-RA.~,;AN4iSSiC20UT­

R~OIRD::AN5 ___.... ~11WR.(ANf3-REZ·~1:A.N!-

\.'no -

V~·-0-5 C1 :CL Kl ----..

oscz:cLKo­RCO:Tloso;ncKI -

RCH10.SifCCP2-RC2iCCP1-

RC:?iSCK·BCL­RDO/P.SPO­RD1 !PSP1--...

- R87:'PGD - RB6:'PGC -RB:5 -RB4 - R83iPGr· .. 1 -RB2 -R8 1 - RBO:HH - \loo 4------ V~

-RD! tPSP7 - RD61PSP6 -RD5:PSP5 -RD4:PSP4 - RC7!P.X.'DT -RC6rTX•CK -RC5iSDO

- RC4/SDI:SD.A. - RD3:PSP3 - RD2:PSP2

Figure 2.4: PIC16F877 A Pin Description

2.4. 1. 2 The Features

Special Microcontroller Features

- 100,000 erase/write cycle Enhanced Flash program memory typical

- Self-reprogrammable under software control

- Single-supply 5V In-Circuit Serial Programming

-Watchdog Timer (WDT) with its own on-chip RC oscillator

- Programmable Code Protection

-Power-Saving Sleeping mode

Peripheral Features

- Two 8-bit (TMRO, TMR2) timer/counter with Prescalar

-One 16-bit timer/counter

- Brown-out detection circuitry

- Parallel Slave Port (PSP): 40/44 pin-device only

9