DESIGN AND SIMULATION OF A MICROPROCESSOR- BASED INDUSTRIAL ARM

DESIGN AND SIMULATION OF A MICROPROCESSOR- BASED INDUSTRIAL ARM
 
ABSTRACT
A system to control a hydraulic industrial arm using a4- bit microcomputer is described.  A supervisory minicomputer can  handle global routines such as science analysis and task and trajectory planning while the microcomputer attends to the control of the arm.  The microcomputer monitors arm joint positions and sensors, and maintains current joint position when no motion is desired.  The supervisory in the form of a sequence of macro- commands.  The microcomputer interprets and executes the job and returns the final status of the arm to the minicomputer. The  designing of the microprocessor- based industrial arm will base on the component of the system used, the circuit analysis diagram and the flowchart which will help  you to write program specification. The result of the designing enabled us to achieve our purpose which we have described above.  This include the industrial arm in motion- based industrial arm will base on the component of the system used, the circuit analysis diagram and the flowchart which will help  you to write program specification. The result of the designing enabled us to achieve our purpose which we have described above.  This include the industrial arm in motion.
 
CHAPTER ONE
INTRODUCTION
Most industrial arm system are driven from magnetic tape or paper tape. A few are driven by a computer which enables them to make decisions.
(1)  Using the same computer handles task and trajectory planning as well as controlling the trajectory of the industrial arm system and hand by computer first calculates a trajectory and then executes it by driving the arm along it. Two exception to the kind of system architecture are the control system proposed for the Robot Popeye at the Charles stark draper laboratory.
(2)  The stand ford research institute unmated control system is composed of a PDP-10 time-shared computers as a command computer,PDP-15 as a control computer and a Nova 1210 as a sensor.
(3)  The system described here consist of a supervisory computer which handles scene analysis, task and trajectory planning routines and a microcomputer which control arm motions, the supervisory computer can be a minicomputer or a time- shared computer.
In the system under development, a HP-2100A is used as the supervisory computer and an Intel MCS-4 microcomputer as a control processor.  The micro-compution monitors arm and hand joint potentiometers as well as hand touch and slip sensors and power supply pressure sensors, and maintains current joint position in the stationary mode.
Arm motion is described to the microcomputer in the  form of job.  A job consists of a sequence of macro-command with joint positions and constraints on force levels and trajectories.  An example for a simple job would be:
1.      Move to position,
2.      Hold project,
3.      Move to new position,
4.      Release object.
After transferring the job description to the MCS-4, the HP-2100A continues processing global routines.  The MCS-4 interprets the macro- commands, executes them utilizing the feedback information from joint potentiometers and sensors, and interrupts the HP-2100 when the job is  terminated.  It  then transfers the final joint positions and status of the sensors to the HP- 2100A and holds the joint in position until the next job request is received.
STATEMENT OF THE PROBLEM
There has been a growing realization of the need and importance of industrial arm service because of its role in a developing society like ours.  It is because of this role, like speeding of business activities working activities, engaging easy performance of job are  expected.  It is necessary to find out the problem people encounter with the heavy project of construction.  The heavy materials are being handled by the machine called microprocessor-based industrial arm.  In fact, we have many problem that this machine can solve like picking hot objects in a industry etc. If solved, it will surely change the lives of our people and also prejudices in accepting the development as a result of this, the project work is titled the industrial arm.
STATEMENT OF THE SUBPROBLEM
Since my statement of problem state that computer technology is at the center of a new industrial revolution which has trans formed modern life, we must have a sub problem of how it functions, the sub computers that makes it work.  Picture of the object you are defending in your project.
HYPOTHESIS OF THE  STUDY
The system called industrial arm consisting of a supervisory computer and microcomputer has a role of controlling the arm joint position, the scene analysis task and trajectory planning routines in a big firm for lifting up heavy objects.
SCOPE OF THE STUDY
With all these limitation which include having  time constraint and difficulties to visit university library insufficient of information from text books in the available library and financial problem to visit area to research more about the project, it is hoped  that this research will provide a meaningful and informative guide on the problems of industrial arm service.
THE NEED FOR THE STUDY
The need of the study is to have the knowledge that machine can have on artificial intelligent for their working system.
Other who will find this project important are the future researchers and follow students who may pick up this work form the library.  This researcher also benefited from this work as it exposed him to things he could not have come across ordinarily.
Finally,  this study will  be of immense help to any person that will be as students as a manager else where.
DEFINITION OF TERMS
Addr: Address
A/D: Analog-to- digital, indicating conversion
ADCD: 12B
Analog: Pertaining to data in the form of continuously variable physically quantities.
MUS: Multipexer
Clutching: Is used is holding object fithly
Control line: Control box or part carry the synchronization and control information needed.
Date: Unprocessed information
End job: End of the execution     
EOC: End of control
Extension: Additional equipment of the same line.
Flag bit: A character that signal the occurrence of some condition, such as the end of a word.
HP-2100: Supervisory minicomputer
Hand elevate: To increase up its hand
Lack: A serialization mechanism by which a specific resources is restricted for use by the holder of the lock.
MCS-4: Micro computer
System block: A collection of machine and method organized in data processing.
Wrist: Is the part joint before the hand.
Rotate: To move round to it or bits.
ASSUMPTION FOR THE STUDY
The following assumptions were made?
1. It is assumed that the computer technology is at the center of a new industrial revolution which has transformed modern life.
2. Robots arm structure is performing a similar job a human being does better.
3. Must of the industrial machine are introduced from foreign country with artificial intelligent for easy execution of jobs.
ORGANIZATION OF THE STUDY
This study on the industrial arm service in big form has been  grouped into following sections to enhance the success of the work. Chapter one with the introduction of microprocessor-based industrial arm. Other section like statement of the problem definition, the sub problem, the hypothesis, the limitation, the delimitations, definition of terms, the assumptions the need of the study and finally, the organization of the study. Chapter three presents the design of the study which includes the introduction, the component, the procedures for the design, the circuit diagram, the flow chart for the design and the program for the design. In chapter four, it expounded on the presentation and analysis of the design, which involves the introductions, the detail analysis of the design and the general analysis. Finally, the chapter five gives the summary, the conclusion, the recommendation for the suture research, bibliography and appendix.