Kontrol Robot ARM dengan Arduino

Posted on April 5, 2012 by admin

Robot Arm adalah sejenis robot yang berfungsi seperti lengan kita, lengan
manusia. Ada siku (elbow), pergelangan (wrist), ada pula bagian untuk
memegang/menjepit (grip). Penampakannya terlihat pada gamba :

Terdapat lima
servo : Base, Shoulder, Elbow, Wrist dan Grip. Jadi kita perlu lima pin
Arduino yang dihubungkan ke masing masing servo.

Pada latihan kali

ini kita akan memprogram pengendali robot arm sederhana. Cukup
mengontrol posisi masing – masing servo secara manual. Untuk pembelajaran
yang lebih advanced anda dapat mempelajarinya dengan teori penunjang
Invers Kinematik.
Nah berikut ini program sederhana mengontrol gerakan robot dengan
Arduino.

#include <Servo.h>

Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;

unsigned int sudut;

String inString=””,temStr;
char str;
unsigned int nomor,l,i;
void setup()
{
Serial.begin(9600);
servo1.attach(2);//pin 2=servo1
servo2.attach(3);//pin 3=servo2
servo3.attach(4);//pin 4=servo3
servo4.attach(5);//pin 5=servo4
servo5.attach(6);//pin 6=servo5
servo1.write(90);
servo2.write(90);
servo3.write(90);
servo4.write(90);
servo5.write(90);
Serial.println(“ROBOT ARM CONTROLLER”);
}

void loop()
{
if(Serial.available()>0)
{
str = Serial.read();
if(str!=’\n’)
{
inString += (char)str;
}
else if (str == ‘\n’)
{
temStr=inString.substring(0,1);
nomor=temStr.toInt();
temStr=inString.substring(2);
sudut=temStr.toInt();
 Serial.print(nomor);
Serial.print(” : “);
Serial.println(sudut);
switch(nomor){
case 1:servo1.write(sudut); break;
case 2:servo2.write(sudut); break;
case 3:servo3.write(sudut); break;
case 4:servo4.write(sudut); break;
case 5:servo5.write(sudut); break;
}
inString = “”;
}
}
}

Jalannya program :
Untuk mengontrol gerakan masing-masing servo menggunakan perintah dari
serial komunikasi. Buka Serial Monitor. Perintah kontrolnya sebenarnya
bebas saja, dapat anda buat sendiri, pada contoh kita kali ini memakai
protokol komunikasi sebagai berikut :
[nomor servo] [spasi atau karakter lain] [besar sudut] [‘\n’]
Contoh, servo 1 kita set pada sudut 1200, cukup kita tulis “1 120” kemudian
klik Send maka servo 1 (base) akan berputar menuju posisi 1200.

Penjelasan program :
Pengontrolan motor servo menggunakan perintah dari library motor servo :
#include <Servo.h>
Jumlah servo ada 5, sehingga perlu kita membuat 5 identifikasi motor servo :
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Selanjutnya konfigurasi koneksi pin masing – masing servo dengan pin
Arduino, perhatikan schematic pada gambar 3.70. Servo1 terhubung ke pin 2,
servo 3 terhubung ke pin 4 dan seterusnya :
servo1.attach(2);//pin 2=servo1
servo2.attach(3);//pin 3=servo2
servo3.attach(4);//pin 4=servo3
servo4.attach(5);//pin 5=servo4
servo5.attach(6);//pin 6=servo5
Posisikan semua servo pada posisi tengah (900) :
servo1.write(90);
servo2.write(90);
servo3.write(90);
servo4.write(90);
servo5.write(90);
Berikutnya program utama hampir sama dengan program sebelumnya,
menunggu sampai ada perintah dari komputer. Perintahnya sesuai dengan
format/protokol yang sudah kita buat. Sebagai tanda kalau pengiriman
perintah sudah lengkap, disertakan karakter newline ‘\n’ pada akhir perintah.
Ketika ada data masuk maka Serial.available()>0 bernilai “true” sehingga
pengujian kondisinya menjadi benar. Variabel str untuk menampung data
yang masuk :
if(Serial.available()>0)
{
str = Serial.read();
Jika data bukan newline ‘\n’ maka pengiriman data belum komplit, tampung,
gabungkan dan simpan ke inString.
if(str!=’\n’)
{
inString += (char)str;
}
Setelah karakter newline diterima berarti sudah diterima sebuah perintah :
else if (str == ‘\n’)
Selanjutnya kita olah data yang diterima, kita ambil mana yang merupakan
perintah untuk nomor servo dan mana yang merupakan perintah besar
sudutnya.
Ambil satu karakter pertama, yaitu nomor servo yang akan dikontrol :
temStr=inString.substring(0,1);
Nilainya masih string, kita konversi menjadi integer :
nomor=temStr.toInt();
Posisi karakter yang menunjukkan besaran sudut dimulai pada karakter
ketiga atau urutan kedua. Contoh : “2 150”, karakter 1 (angka pertama dari
150) ada pada posisi kedua, sehingga perintah berikutnya adalah mengambil
karakter mulai urutan kedua :
temStr=inString.substring(2);
Nilai inipun masih bertipe string sehingga perlu dikonversi ke integer :
sudut=temStr.toInt();
Selanjutnya kita cek servo keberapa yang akan dikontrol, dengan perintah :
switch(nomor){
case 1:servo1.write(sudut); break;
case 2:servo2.write(sudut); break;
case 3:servo3.write(sudut); break;
case 4:servo4.write(sudut); break;
case 5:servo5.write(sudut); break;
}
Jika servo yang dikontrol adalah servo 1 maka isi variabel nomor adalah 1 dan
case 1 yang akan dikerjakan yaitu mengontrol servo 1 sesuai dengan nilai
sudutnya. Demikian juga untuk nomor servo yang lain, terakhir variabel
inString dikosongkan nilainya untuk dipakai pada proses penerimaan
perintah berikutnya :
inString = “”;
Ini foto hardwarenya :

Ok, kalau tadi ngontrolnya pake program serialnya Arduino, besok saya
sampaikan pake yang lebih ‘berwarna’ semisal Delphi, tunggu aja ya…

CARA 2

Arduino Robotic Arm

ARDUINO
ByDilip Raja Jan 01, 201728

DIY Arduino Robotic Arm

In this tutorial, we design an Arduino Uno Robotic Arm. Entire arm will be designed
from some scrap material and servos. Entire process of construction has been explained
in detail below. The arm has been built with cardboards and the individual parts have
been locked to servo motors. Arduino Uno is programmed to control servo motors.
Servos are serving as joints of Robotic arm here. This setup also looks as a Robotic
Crane or we can convert it into a Crane by some easy tweaks. This project will be very
helpful for beginners who want to learn to develop a Simple Robot in low cost.
This Arduino Robotic Arm can be controlled by four Potentiometer attached to it, each
potentiometer is used to control each servo. You can move these servos by rotating the
pots to pick some object, with some practice you can easily pick and move the object
from one place to another. We have used low torque servos here but you can use more
powerful servos to pick heavy object. The whole process has been well demonstrated in
the Video at the end. Also check our other Robotics Projects here.

Components Required:
 Arduino Uno
 1000uF Capacitor (4 pieces)
 100nF Capacitor (4 pieces)
 Servo Motor (SG 90- four pieces)
 10K pot- Variable Resistor (4 pieces)
 Power Supply (5v- preferably two)

Servo Motor:
First we talk a bit about Servo Motors. Servo Motors are excessively used when there is
a need for accurate shaft movement or position. These are not proposed for high speed
applications. Servo motors are proposed for low speed, medium torque and accurate
position application. So these motors are best for designing robotic arm.
Servo motors are available at different shapes and sizes. We are going to use small
servo motors, here we use four SG90 servos. A servo motor will have mainly there
wires, one is for positive voltage another is for ground and last one is for position setting.
The RED wire is connected to power, Black wire is connected to ground and YELLOW
wire is connected to signal. Go through this tutorial of Controlling Servo Motor using
Arduino to learn more about it. In Arduino we have predefined libraries to control the
Servo, so it is very easy to control servo, which you will learn along with this tutorial.

Construction of Robotic Arm:

Take a flat and stable surface, like a table or a hard card board. Next place a servo motor
in the middle and glue it in place. Make sure the degree of rotation is in the area
presented in figure. This servo acts as base of arm.

Place a small piece of cardboard on top of first servo and then place the second
servo on this piece of board and glue it in place. The servo rotation must match the
diagram.
Take some cardboards and cut them into 3cm x 11cm pieces. Make sure the piece is not
softened. Cut a rectangular hole at one end (leave 0.8cm from bottom) just enough to fit
another servo and at another end fit the servo gear tightly with screws or by glue. Then fit
the third servo in the first hole.
Now cut another cardboard piece with lengths shown in figure below and glue another
gear at the bottom of this piece.

Now glue the fourth and last servo at the edge of second piece as shown in figure.
With this, two pieces together looks like.

When we attach this setup to the base it should look like,

It’s almost done. We just need to make the hook to grab and pick the object like a
robotic hand. For hook, cut another two pieces of card board of lengths 1cmx7cm &
4cmx5cm. Glue them together as shown in figure and stick final gear at the very edge.

Mount this piece on top and with this we have done building our Robotic Arm.
With this, our basic robotic arm design got completed and that's how we have built our
low cost robotic arm. Now connect the circuit in breadboard as per circuit diagram.

Circuit Diagram and Working Explanation:

The circuit connection for Arduino Uno Robotic Arm is shown below.
The voltage across variable resistors is not completely linear; it will be a noisy one. So to
filter out this noise, capacitors are placed across each resistor as shown in figure.
Now we will feed the voltage provided by these variable resistor (voltage which
represents position control) into ADC channels of Arduino. We are going to use four ADC
channels of UNO from A0 to A3 for this. After the ADC initialization, we will have digital
value of pots representing the position needed by user. We will take this value and match
it with servo position.
Arduino has six ADC channels. We have used four for our Robotic Arm. The UNO ADC
is of 10 bit resolution so the integer values ranging from 0-1023 (2^10=1024 values). This
means that it will map input voltages between 0 and 5 volts into integer values between 0
and 1023. So for every (5/1024= 4.9mV) per unit. Learn more about mapping the voltage
levels using ADC channels in Arduino here.

Now, for the UNO to convert analog signal into digital signal, we need to Use ADC
Channel of Arduino Uno, with the help of below functions:

1. analogRead(pin);

2. analogReference();

3. analogReadResolution(bits);

Arduino ADC channels have a default reference value of 5V. This means we can give a
maximum input voltage of 5V for ADC conversion at any input channel. Since some
sensors provide voltages from 0-2.5V, so with a 5V reference, we get lesser accuracy, so
we have an instruction that enables us to change this reference value. So for changing
the reference value we have “analogReference();”
As default we get the maximum board ADC resolution which is 10bits, this resolution can
be changed by using instruction (“analogReadResolution(bits);”).
In our Robotic hand circuit, we have left this reference voltage to the default, so we
can read value from ADC channel by directly calling function “analogRead(pin);”, here
“pin” represents pin where we connected the analog signal, say we want to read “A0”.
The value from ADC can be stored into an integer as int SENSORVALUE0 =
analogRead(A0);.

Now let’s talk about the SERVO, the Arduino Uno has a feature which enables us to
control the servo position by just giving the degree value. Say if we want the servo to be
at 30, we can directly represent the value in the program. The SERVO header (Servo.h)
file takes care of all the duty ratio calculations internally.

#include <Servo.h>

servo servo0;

servo0.attach(3);

servo0.write(degrees);

Here first statement represents the header file for controlling the SERVO MOTOR.
Second statement is naming the servo; we leave it as servo0 as we are going to use four.
Third statement states where the servo signal pin is connected; this must be a PWM pin.
Here we are using PIN3 for first servo. Fourth statement gives commands for positioning
servo motor in degrees. If it is given 30, the servo motor rotates 30 degrees.
Now, we have SG90 servo position from 0 to 180 and the ADC values are from 0-1023.
We will use a special function which matches both values automatically.

sensorvalue0 = map(sensorvalue0, 0, 1023, 0, 180);

This statement maps both values automatically and stores the result in
integer ‘servovalue0’.
This is how we have controlled the Servos in our Robotic Arm project using
Arduino. Check the full codebelow.

How to Operate Robotic Arm:

There are four pots provided to the user. And by rotating these four pots, we provide
variable voltage at the ADC channels of UNO. So the digital values of Arduino are under
control of user. These digital values are mapped to adjust the servo motor position,
hence the servo position is in control of user and by rotating these Pots user can move
the joints of Robotic arm and can pick or grab any object.

Code
#include <Servo.h>
Servo servo0;
Servo servo1;
Servo servo2;
Servo servo3;
int sensorvalue0;
int sensorvalue1;
int sensorvalue2;
int sensorvalue3;
void setup()
{
pinMode(A0,INPUT);
pinMode(3,OUTPUT);
servo0.attach(3);

pinMode(A1,INPUT);
pinMode(5,OUTPUT);
servo1.attach(5);

pinMode(A2,INPUT);
pinMode(6,OUTPUT);
servo2.attach(6);

pinMode(A3,INPUT);
pinMode(9,OUTPUT);
servo3.attach(9);
}

void loop()
{
sensorvalue0 = analogRead(A0);
sensorvalue0 = map(sensorvalue0, 0, 1023, 0, 180);
servo0.write(sensorvalue0);
sensorvalue1 = analogRead(A1);
 sensorvalue1 = map(sensorvalue1, 0, 1023, 0, 180);
servo1.write(sensorvalue1);
sensorvalue2 = analogRead(A2);
sensorvalue2 = map(sensorvalue2, 0, 1023, 0, 180);
servo2.write(sensorvalue2);
sensorvalue3 = analogRead(A3);
sensorvalue3 = map(sensorvalue3, 0, 1023, 0, 180);
servo3.write(sensorvalue3);
}

Video