INTERDISCIPILNARY PROJECT REPORT
at
Sathyabama Institute of Science and Technology
(Deemed to be University)
Submitted in partial fulfilment of the requirements for the award of
Bachelor of Engineering Degree in Computer Science and Engineering
BY
SRINITHI SARASWATHI D (REG. NO. 40731102)
DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING
SCHOOL OF COMPUTING
SATHYABAMA INSTITUTE OF SCIENCE AND TECHNOLOGY
JEPPIAAR NAGAR, RAJIV GANDHI SALAI,
CHENNAI – 600119, TAMILNADU
APRIL 2023
1
SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with Grade “A” by NAAC
(Established under Section 3 of UGC Act, 1956)
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI– 600119
www.sathyabama.ac.in
DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING
BONAFIDE CERTIFICATE
This is to certify that this Project Report is the bonafide work of SRINITHI
SARASWATHI D (Reg. No. 40731102) who carried out the project entitled
“ROBOTIC ARM” under my supervision from January 2023 to April 2023.
Internal Guide
Dr.A.Annie Micheal, M.E, PhD
Head of the Department
Dr S.Vigneshwari, M.E.,Ph.D
17-04-2024
Submitted for Viva-voce Examination held on
Internal Examiner External Examiner
2
DECLARATION
I, SRINITHI SARASWATHI D hereby declare that the Project Report entitled “Robotic Arm”
done by me under the guidance of Dr A.Annie Micheal, M.E, PhD is submitted in partial
fulfilment of the requirements for the award of Bachelor of Engineering degree in
Computer Science and Engineering.
DATE: 17-04-2023
PLACE: Chennai SIGNATURE OF THE CANDIDATE
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ACKNOWLEDGEMENT
I am pleased to acknowledge my sincere thanks to the Board of Management of
SATHYABAMA for their kind encouragement in doing this project and for completing it
successfully. I am grateful to them.
I convey my thanks to Dr. T. Sasikala M.E., Ph.D., Dean, School of Computing,
Dr.S.Vigneshwari, M.E., Ph.D., Head of the Department of Computer Science and
Engineering for providing me necessary support and details at the right time during the
progressive reviews.
I would like to express my sincere and deep sense of gratitude to my Project Guide
Dr. A. Annie Micheal, M.E, PhD for her valuable guidance, suggestions and constant
encouragement that paved the way for the successful completion of my project work.
I wish to express my thanks to all Teaching and Non-teaching staff members of the
Department of Computer Science and Engineering who were helpful in many ways
for the completion of the project.
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TRAINING
CERTIFICATE
5
ABSTRACT
Today, technology is developing in the same direction in line with the rapidly
increasing of human needs. The work done to meet these needs makes life easier
every day, and these studies are concentrated in robotics studies. Actually in
research scientists use the word "Robot" to mean any man-made machine that can
perform workor other actions normally performed by humans, either automatically or
by remote control because of this robot pervasive machine because of it is the
accuracy of work and doing thing that people can’t do in addition robot can work in
dangerous regions that human can’t work in it because of all these reason robot
became one of the most popular thing that scientists still persevere to make it better
by finding new controllers and designs that make robot more efficient and more
reliable and in our project we have built a robot arm with 5 DOF (degree of freedom).
In fact there are several methods were implemented to make a 5-DOF manipulator
capable of performing pick-and-place operations. but the problem is that all the
controller is relentless that mean if we need to change the program of the arm we
have to reboot and write or designs another one and upload it to arm robot this way
apparently is not efficient, on balance we choose a different and unconventional
method to control the robot arm by using image processor device that called
(Kinect).
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TABLE OF CONTENTS
CHAPTER TITLE PAGE NO
NO.
ABSTRACT 6
LIST OF FIGURES 9
LIST OF ABBREVIATIONS 10
1 INTRODUCTION 11
1.1 Robotic Arms 12
1.2 Design 13
2 AIM AND SCOPE OF THE PRESENT 14
INVESTIGATION
2.1 Objectives 15
2.2 Advantages 16
2.3 Application 17
3 EXPERIMENTAL OR MATERIALS AND METHODS; 18
ALGORITHMS USED
3.1 Arduino UNO 18
3.2 Servo Motor 19
3.3 Dual-Axis Joystick Module 20
4 RESULTS AND DISCUSSION, PERFORMANCE ANALYSIS 21
4.1 Project Implemenation 21
4.2 Future Works 21
4.3 Result 21
4.4 Circuit Diagram 22
5 SUMMARY AND CONCLUSIONS 23
REFERENCES 24
APPENDIX 26
A. WORK FLOW SCREENSHOT 26
B. SOURCE CODE 27
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LIST OF FIGURES
FIGURE NO FIGURE NAME PAGE NO
Figure 1.1 Robotic Arm 13
Figure 2.1 Aim and scope of Robotic Arm 14
Figure 3.1 Arduino UNO 18
Figure 3.2 Servo Motor 19
Figure 3.3 Dual Axis Joystick 20
Figure 4.1 Circuit Diagram of the robot arm 22
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LIST OF ABBREVIATIONS
ABBREVIATION EXPANSION
AMR’s Autonomous Mobile Robot
Arduino IDE Arduino Integrated Development Environment
MG996R Metal Gear Digital Servo Motor
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CHAPTER-1
INTRODUCTION
A robot is a machine designed to execute one or more tasks automatically with
speed and precision. We need robots because robots are often cheaper to use over
humans, in addition it is easier to do some jobs using robots and sometimes the
only possible way to accomplish some tasks! Robots can explore inside gas tanks,
inside volcanoes, travel the surface of Mars or other places too dangerous for
humans to go where extreme temperatures or contaminated environments exist.
Robotics is an interdisciplinary branch of engineering and science that includes
mechanical engineering, electrical engineering, computer science, and others.
Robotics deals with the design, construction, operation, and use of robots, as well
as computer systems for their control, sensory feedback, and information
processing. Robotic system has been widely used in manufacturing, military and
surgery since the robot can perform many advantages and used as the counter
measure for some job that cannot be conduct by the human excellently.
Robots are used in different fields such as industrial, military, space exploration, and
medical applications. These robots could be classified as manipulator robots and
cooperate with other parts of automated or semi-automated equipment to achieve
tasks such as loading, unloading, spray painting, welding, and assembling.
Generally robots are designed, built and controlled via a computer or a controlling
device which uses a specific program or algorithm. Programs and robots are
designed in a way that when the program changes, the behavior of the robot
changes accordingly resulting in a very flexible task achieving robot. Robots are
categorized by their generation, intelligence, structural, capabilities, application and
operational capabilities.
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1.1 ROBOTIC ARM
Robotic arms, also known as articulated robotic arms, are fast, reliable, and
accurate and can be programmed to do an infinite number of tasks in a variety of
environments. They are used in factories to automate execution of repetitive tasks,
such as applying paint to equipment or parts; in warehouses to pick, select, or sort
goods from distribution conveyors to fulfill consumer orders; or in a farm field to pick
and place ripe fruits onto storage trays. And as robotic technologies develop and
industrial environments become more connected, the capabilities of robotic arms
expand to enable new use cases and business operation models.
In the past, a robotic arm required teaching to perform narrowly defined tasks, such
as picking a single type of object from a precise location with a specific orientation.
Robots were not able to identify a particular type of object among many, determine
an object location with some tolerance (area rather than exact position), or adjust
the grasp based on object orientation.
With these advancements in machine vision, AI and network technologies, robotic
arms can now see, analyze, and respond to their environments while transmitting
valuable data and insights back to facility and business management systems. One
area that benefits from this transformation is equipment (robot included)
maintenance. The robot can compute data at the edge or transmit it to a server or
the cloud for remote monitoring. This process enables predictive maintenance,
which in turn helps reduce maintenance costs while improving machine uptime.
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1.2 Mechanical Design
The first step of designing a robot is to decide the dimension and workspace
configuration according to the requirements. The next step is to decide the
specification of each actuator. The arm is attached to a base which is the most
bottom part of the robot. It is important to mention that the base ought to have
considerably heavy weight in order to maintain the general balance of the robot in
case of grabbing an object. Although the idea of using stepper and gear motors is
brilliant, but physical movement of the robot is done by using servo motors. The
advantage of the servos is that they can be programmed to return to their initial
position. Since the servo motors operate using the signals received from the
microcontroller, they could be programmed according to the requirements. The
diagram of our robot arm and it is coordinates before we construct it is shown in
Figure 3.1.
Figure (1.1): robot arm diagram
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CHAPTER-2
AIM AND SCOPE OF THE PRESENT INVESTIGATION
Figure (1.7) shows the scope and aim of this project, starting from the revision of
different load-shedding techniques to validate the proposed scheme experimentally.
Review all existing robot types
Design an arm robot with gripper
Implement the mechanical part of arm robot
Implement the electronic part of arm robot
Test the arm robot movements using dual
joystick
Figure (2.1): Aim and scope of arm robot
In robotics, it is a tool used to manipulate things at the end of a robotic arm. The
end effector, often referred to as end-of-arm tooling, is located at the end of the
robot arm and only moves when a user activates it using the corresponding
software. A robotic arm is required to automate and improve a process, but the
end effector allows the robot to work. Different end effectors are suitable for various
purposes, and the choice of end effectors depends on the task at hand.
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2.1 Objectives
Robotic arms can be used to automate the process of placing goods or products
onto pallets. The use of robotic arms also frees human workers from performing
tasks that present a risk of bodily injury. Robotic arms can be used in Army Defense,
Chemical Handler, Lifting of very heat/cold objects and Self Defense
Industrial robotic arms are helping companies reach new levels of productivity
through enhanced speed, efficiency, and precision across a variety of applications.
Machine vision and network technologies allow robotic arms to see, analyze, and
understand their environments. This intelligence enables them to perform tasks with
flexibility, precision, and speed while increasing quality and factory/warehouse
safety. Robotic arms equipped with remote monitoring and analytics technologies
at the edge can provide businesses with actionable insights on robot equipment
health status and performance in real time and enable predictive maintenance,
which can increase uptime while reducing maintenance costs. Robotic arms
enhanced with Intel® technologies enable multiple use cases and applications
across industries, including real-time welding and painting with inline inspection,
material handling, and object manipulation.
The main objectives of Robotic Arm is listed:
1- Design and fabricate a five DOF robot arm with gripper (end effector) that
can be used for demonstrative and educational purposesin addition it will be
able to hold thing or repairing thing since it will have a wide work envelope.
2- Use Kinect device to control the robot arm that successfully achieved the
task of lifting an object from one location to another as per programed
sequence.
3- The ability of using this arm in dangerous or poisonous environments to do
some work depending on human arm orders.
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2.2 Advantages
Businesses can realize several benefits from industrial robotic arms:
• Improved safety. Robotic arms help keep workers safe by operating in
environments that are hazardous and executing tasks that present high risk
of injury to humans.
• Improved efficiency and productivity. Robotic arms can operate 24 hours
a day, seven days a week without fatiguing, allowing businesses to keep
production, inspections, or other tasks going continuously to increase output.
• Enhanced precision. By their very nature, robotic arms perform more
consistently and accurately than humans for tasks that require extreme
precision or consistency.
• Greater flexibility. As business priorities change, robotic arms can easily be
repurposed for new activities or mounted onto different platforms, such
as autonomous mobile robots (AMRs), a stationary assembly line platform,
or wall or shelf, as needed.
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2.3 Application
One of the key advantages of industrial robotic arms is their versatility for supporting
multiple applications—from the simplest to the most complex jobs in the safest or
harshest environments. Automating these types of tasks not only removes human
workers from possibly hazardous situations, but it enables those workers to take on
high-value tasks such as interfacing with customers.
Here are some of the most common ways manufacturers are using robotic arms
today:
Material Handling
Material-handling robotic arms can help create a safe and efficient warehouse by
ensuring goods and materials are properly stored, easy to find, or transported
correctly. Automating these processes can help accelerate the delivery of goods to
customers, prevent workplace accidents, and improve the efficiency of a facility.
Welding
Welding is a task that can be performed by robots in advanced industrial settings
such as automotive manufacturing. Given its critical impact on product quality,
welding is an excellent candidate for advanced robotics with vision and AI
augmentation for inline quality inspection.
Pick and Place
Pick-and-place robots are typically used in modern manufacturing and logistics.
They are equipped with advanced machine vision systems to identify an object,
grasp it, and move it from one location to another —quickly and efficiently— to
increase speed of production and distribution of goods.
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CHAPTER-3
EXPERIMENTAL OR MATERIALS AND METHODS;ALGORITHMS USED
The following sensors are used in building the robotic arm:
• Arduino UNO
• Servo Motor
• Dual Axis Joystick
• Jumper Wires
3.1 Arduino UNO
Arduino has become very popular in the world in recent times. In this project the
arduino mega is used to communicate with processing and control the arm robot
servo motor. The Arduino UNO Code is loaded using Arduino IDE software. The
causes of the spread of Arduino at such a rapid rate are: 1) it can be used on all
platforms due to the simplicity of the development environment with driver usage.
2) With the help of the advanced library, even complex operations can be easily
solved. 3) There is a lot of hardware support that is compatible with Arduino and
can work together. 4) Communication with the environment is easy because it is
open source. The Arduino mega is shown in figure 2.2.
Figure (3.1): Arduino UNOboard
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3.2 Servo Motor
Servo motors are the kinds of motors that can fulfill the commands we want.
They can operate steadily even at very small or very large speeds. In these motors,
the large moment can be obtained from the small size. Primarily, servomotors are
geared dc motors with a positional feedback control that allows the rotor (shaft) to
be positioned accurately. The position control signal is a single variable width
pulse. The pulse can be varied from 1 to 2 ms. The width of the pulse controls the
position of the servo motor shaft. A 1-ms pulse rotates the shaft to the extreme
counterclockwise (CCW) position (-45’). A 1.5-ms pulse places the shaft in a
neutral midpoint position (0’). A 2-ms pulse rotates the shaft to the extreme
clockwise (CW) position (+45’). The pulse width signal is sent to the servomotor
approximately 50 times per second (50Hz). This servo motor is shown in figure 2.4.
Figure(3.2): Servo Motor (MG996R)
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3.3 Dual Axis Joystick Module
The Joystick module is an analog output device, which is used to sense movements
in 2 directions (axes). These modules are mainly used in a gaming controller,
Remote controller, etc. Also, we can use it in Electronic and DIY projects for
controlling purposes. It allows you to control X and Y dimensions. The Joystick
module consists of two potentiometers and a push-button switch. These
potentiometers provide analog output value and the push button provides digital
output value. It has a self-centering spring-loaded mechanism, it means when we
release the joystick knob/cap it will centre itself. The dual-axis joystick is shown in
figure 2.5
Figure(3.3): Dual Axis Joystick
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CHAPTER-4
RESULTS AND DISCUSSION, PERFORMANCE ANALYSIS
4.1 PROJECT IMPLEMENTATION
In reality, there are many different types of end effectors with most of them
resembling something less of a hand that you would imagine. The world of robots
manipulating objects is changing each day but there are some end effectors that
regularly make appearances on the business end of a robot arm. It might be more
beneficial to look less at how the effector appears and more at how it operates.
4.2 Future Works
The robotic arm will next be attached to the robot and worked for advanced
technologies The fully assembled robot will now be able to act 50% of the
human’s activity.The robotic arm will be designed for hospital operation purpose
which is so much useful for the doctors to operate.
4.3 Result
After completing all the design process and reviewing, the final test is on its place.
The robotic arm is assembled and programmed in different sequence to check the
result of the system.
The pick and place function is working fine when the dual joystick is commanded.
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4.4 CIRCUIT DIAGRAM
Figure(4.1): Circuit Diagram of Robotic Arm
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CHAPTER-5
SUMMARY AND CONCLUSIONS
Summary:
Most robots are designed for heavy, dangerous, and repetitive tasks to achieve
perfection and cut down on costs. A robotic arm is a machine programmed and
designed to perform specific tasks efficiently and precisely. The work of a robotic
arm is mostly driven by a motor and is used in different industrial sectors. A robotic
arm may be one of the main parts of an industrial robot and is a programmable
mechanical arm that can perform a variety of tasks. It contains several attachments
through joints known as axes. Every attachment has a stepper or a servo motor that
moves in a specific motion. The greater the number of joints or axes, the greater the
range of motion. These motorised axes help the robot operate with precise
movements for better accuracy.
CONCLUSION:
A robot that can understand, “Something is in my way, I must move it to complete
this task,” then actually perform that action is the idea that robot hand developers
are aiming for. Development will obviously continue in mechanical construction but
even the most realistic hand is only as effective as the intelligence driving it. This
project is a prototype of an immense number of projects that we can use it in a lot
of purposes like military, medical, social, educational, and industrial and we can use
it for people with special needs.
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REFERENCES:
[1] Introduction and Objective Robotic Arm by (Abdul Zahier Ismail)
https://www.scribd.com/document/362905868/Introduction-and-Objective-Robotic-
Arm
[2] Patil, C., Sachan, S., Singh, R. K., Ranjan, K., & Kumar, V. (2009). Self and
Mutual learning in Robotic Arm, based on Cognitive Systems. West Bengal: Indian
Institute of Technology Kharagpur.
[3] Craig, J. J. (2005). Introduction to Robotics-Mechanics and Control (3rd ed.). (M.
J. Horton, Ed.) Upper Saddle River, USA: Pearson Prentice Hall.
[4] Angelo, J. A. (2007). Robotics: A Reference Guide to the New Technology.
Westport: Greenwood Press.
[5] Carlson, M., Donley, E., Graf, K., & Jones, T. (2013). Helping Hand: Senior
Design Final Documentation. Orlando: University of Central Florida.
[6] ROBOT ARM CONTROL WITH ARDUINO by Aimn Mohamed Ahmed Ghiet
MECHANICAL AND AERONAUTICAL ENGINEERING:
https://www.researchgate.net/publication/317277584_ROBOT_ARM_CONTROL_
WITH_ARDUINO
[7] Motion Control of Robot by using Kinect Sensor by: Mohammed A. Hussein,
Ahmed S. Ali, Department of Electronics Technology, Faculty of Industrial
Education, Beni-Suef University, Egypt
https://www.researchgate.net/publication/290594972_Motion_Control_of_Robot_b
y_using_Kinect_Sensor
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PREVIOUS PAPER PUBLICATION:
Introduction and Objective Robotic Arm by (Abdul Zahier Ismail)
https://www.scribd.com/document/362905868/Introduction-and-Objective-Robotic-
Arm
In this experiment, the student was explained by the technician on robotic system.
The robot part introduced to the student with basic layout of the robotic where
consist robot arm, robot arm link and robot arm joint. We practice the robot with
basic movements that have been shown by the lab assistant and recorded all
the data of the robot arm movement. The basic movement of the robot arm depend
on the joint types where our robot has revolute joints for rotary joint and prismatic
joint for the linear movement of the robot arm. Robotics is an interdisciplinary branch
of engineering and science that includes mechanical engineering, electrical
engineering, computer science, and others. Robotics deals with the design,
construction, operation, and use of robots, as well as computer systems for their
control, sensory feedback, and information processing. Robotic system has been
widely used in manufacturing, military and surgery since the robot can perform many
advantages and used as a countermeasure for some job that cannot be conducted
by human excellently. These robotic arms have been used to perform a variety of
tasks such as inspection of the Space Shuttle using a specially deployed boom with
cameras and sensors attached at the end effector, and also satellite deployment
and retrieval manoeuvres from the cargo bay of the Space Shuttle.
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APPENDIX
WORK FLOW SCREENSHOT:
26
SOURCE CODE
27
28
29
30
