A Robot Motion Authoring using

Finger-Robot Interaction
 Contents
• Objective
• Existing System
• Proposed System
• Block Diagram
• Hardware Tools
• Software Tools
• Applications
• Merits
• References
 Objective
• A user-friendly method that easily authors
(creates and controls) robot motion according
to the number of fingers.
 Existing System
• Manual operation
• Difficult control
• Sensor based control
•  Voice based control
 Proposed System
• Intelligent system
• Image comparison method
• Wireless control
• Voice announcement method
 Block Diagram
Person Section
 Block Diagram FRONT

Robot Section
Driver Unit RIGHT LEFT

RF Receiver

BACK

Micro controller
Decoder
Voice Chip

Loud speaker
 Hardware Tools
• Microcontroller (AT89S51)
• RF Module
• Encoder/Decoder
• Web Camera
• Driver Unit
• Power Supply
• Voice Chip
• Loud Speaker
Power supply
 Power Supply Circuit

D1

1
VDD
JP2
2 - + 4 1 2
2 V IN V O U T VDD
1 U2
7805 R4

GND
220 VAC C5 C6 C7 220 ohm
470 uF 100 uF 0 .1 u F
3

D2

LED
 Power Supply – Circuit Description
• The operation of power supply circuits built
using filters, rectifiers, and then voltage
regulators. Starting with an AC voltage, a steady
DC voltage is obtained by rectifying the AC
voltage, Then filtering to a DC level, and finally,
regulating to obtain a desired fixed DC voltage.
The regulation is usually obtained from an IC
voltage regulator Unit, which takes a DC voltage
and provides a somewhat lower DC voltage,
Which remains the same even if the input DC
voltage varies, or the output Load connected to
the DC voltage changes.
Microcontroller
 Need of Microcontroller
• A microcontroller (also MCU or µC) is a
functional computer system-on-a-chip. It
contains a processor core, memory, and
programmable input/output peripherals.

• Microcontrollers include an integrated

CPU, memory (a small amount of RAM,
program memory, or both) and
peripherals capable of input and output.
 Features of MCU
• 4K Bytes of In-System Programmable (ISP)
Flash Memory
• 4.0V to 5.5V Operating Range
• Fully Static Operation: 0 Hz to 33 MHz
• 128 x 8-bit Internal RAM
• 32 Programmable I/O Lines
• Two 16-bit Timer/Counters
• Six Interrupt Sources
• Full Duplex UART Serial Channel
• Low-power Idle and Power-down Mode
• Watchdog Timer , Dual Data Pointer
Micro Controller (Circuit Diagram)
VCC
0.1uF

U1 C1

20
40
P1_0 1 39 P0_0
P1_1 2 P1.0 P0.0/AD0 38 P0_1

VCC

GN D
P1_2 3 P1.1 P0.1/AD1 37 P0_2
P1_3 4 P1.2 P0.2/AD2 36 P0_3
P1_4 5 P1.3 P0.3/AD3 35 P0_4
P1_5 6 P1.4 P0.4/AD4 34 P0_5
P1_6 7 P1.5 P0.5/AD5 33 P0_6
P1_7 8 P1.6 P0.6/AD6 32 P0_7
P1.7 P0.7/AD7
P3_0 10 31
P3_1 11 P3.0/RXD EA/VPP 30
VCC P3_2 12 P3.1/TXD ALE/PROG 29
P3_3 13 P3.2/INTO PSEN
P3_4 14 P3.3/INT1
P3_5 15 P3.4/TO 28 P2_7
P3_6 16 P3.5/T1 P2.7/A15 27 P2_6
P3_7 17 P3.6/WR P2.6/A14 26 P2_5
10uF

P3.7/RD P2.5/A13
RST

25 P2_4
C2

9 P2.4/A12 24 P2_3
RST P2.3/A11 23 P2_2
P2.2/A10 22 P2_1
18 P2.1/A9 21 P2_0
11.0592MHz 19 XTAL2 P2.0/A8
R2 X1 XTAL1
8K2
C4 C3 8051
33PF 33PF
 RF TRANSMITTER

• The transmitter output is up

to 8mW at 433.92MHz with
a range of approximately
few meters
• It accepts both linear and
digital inputs
• It can operate from 1.5 to
12 Volts-DC
• It is approximately the size
of a standard postage
stamp.
 HT-12E ENCODER
Features
• Operating voltage:2.4V~12V for the HT12E
• Low power and high noise immunity
CMOS technology
• Minimum transmission word’s of
4 words for the HT12E
• Built-in oscillator needs only 5% resistor
• Data code has positive polarity
• Minimal external components
• HT12E: 18-pin DIP/20-pin SOP package
 RF RECEIVER
• It also operates at
433.92MHz, and has a
sensitivity of 3uV.
• It operates from 4.5 to
5.5 volts-DC,
• It has both linear and
digital outputs.
 HT12D DECODER
• Operating voltage: 2.4V~12V
• Low power and high noise immunity
• CMOS technology
• Low standby current
• Capable of decoding 12 bits of information
• Binary address setting
• Received codes are checked 3 times
• Address/Data number combination
• - HT12D: 8 address bits and 4 data bits
• Built-in oscillator needs only 5% resistor
• Valid transmission indicator
• Easy interface with an RF transmission medium
• Minimal external components
• Pair with Holtek's 212 series of encoders
• 18-pin DIP, 20-pin SOP package
 Software Tools
• KEIL IDE
• Flash Programmer
• ORCAD
• MATLAB
• Languages
– Embedded c
 KEIL IDE
• Integrated development environment popularly known as IDE is a
suite of software tools that facilitates microcontroller
programming. The Keil IDE enables the embedded professional to
develop the program in C and assembly as well. The IDE passes
through the source code to check the syntax. The compilation leads
to a hex file to be dumped in the microcontroller on-chip ROM. A
quick session of simulation and debugging using the IDE ensures the
working of the program beforehand. The user can verify the results
as the package presents screenshots of on-chip resources. This
chapter presents in-depth discussion on using the μVision 2
package of Keil IDE on MS Windows platform. It is recommended
that while going through the discussion the user should access the
μVision 2 package of the Keil. A step-by-step working as discussed
in this chapter will empower the user to get familiar with the Keil
IDE.
Keil IDE
 Applications
• Deaf and Dum
• Industry Automation
• Home Automation
 Merits
• Reliable System
• Low cost system
 References
• http://www.cyberbotics.com/ (CyberRobotics
WebotsTM)
• http://www.microsoft.com/korea/robotics/st
udio.mspx
• S. Y. Nam et al., “A study on design and
implementation of the intelligent robot
simulator which is connected to an URC
system,” vol. 44. no. 4, IE, pp. 157-164, 2007.