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Research Article Open Access

Automatic Pick and Place Robot Manipulation Using a Microcontroller

Manjula VS* and Karamagi RI
Department of Computer Science and Information Systems Engineering, St. Joseph College of Engineering and Technology, Dar es Salaam, Tanzania

Abstract
Robots are versatile instruments of technology that work to make the life of human beings easy. The perceptive
visualizations of a task being done are theorized and modeled into real-time algorithmic executions. Pick and place
systems are highly advantageous due to their consistency, accuracy, precision, repeatability, reliability, resolution
and efficiency. A robot arm is fixed to a base and operates in its workspace to achieve the migration towards its pick
location. It opens its gripper upon arrival to grasp the object and move with it to the depot location. Upon arrival
at the destination it opens its claws to release the object. The microcontroller sets the servo motors to rotate at
calibrated angles that place the arm at the desired position in space and time to commit to the task. The dawn of
todays research across the horizon of computing shall bring rise to the apocalypse that shall abominate all barriers
of robotic development.

Keywords: Microcontroller; PCB; Transformer; Resistor linear or rotational. Linear joints involve a sliding or translational
motion of the connecting links Figure1. This motion can be achieved
Introduction in a number of ways (e.g., by a piston, a telescoping mechanism, and
Automation is defined as a technology that is concerned with the relative motion along a linear track or rail).
use of mechanical, electronic, and computer-based systems in the Laws of Robotics
operation and control of production [1]. This technology includes
transfer lines, mechanized assembly machines, feedback control Isaac Asimov conceived the robots as humanoids, devoid of
systems, and robots [2,3]. There are three broad classes of industrial feelings, and used them in a number of stories. His robots were well-
automation: fixed automation, programmable automation, and flexible designed, fail-safe machines, whose brains were programmed by
automation [4].
The aim of this paper is to design a Robotic System capable of
picking objects from a pre-defined location and placing them at a target
destination [5]. The system is based on embedding a C program onto
the PIC16F877A microcontroller using mikroC PRO for PIC [6,7]. The
robot controller is made from a printed circuitboard (PCB) designed
using Autodesk Eagle and the robot arm is modelled using Autodesk
Inventor [8,9].
Robot anatomy
The vast majority of today’s commercially available robots possess
one of the four basic configurations: [1,2]
• Polar configuration
• Cylindrical configuration
• Cartesian coordinate configuration
• Jointed-arm configuration Figure 1: The five basic robot anatomies: (a) Polar (b) Cylindrical (c)
Cartesian, (d) Jointed-arm (e) SCARA.
• Compliance Assembly/Articulated Robot Arm (SCARA)
Robot Motions.
Robot motion *Corresponding author: Manjula VS, Department of Computer Science and
Information Systems Engineering, St. Joseph College of Engineering and
The robots movement can be divided into two general categories: Technology, Dar es Salaam, Tanzania, Tel: +255 689 304 186; E-mail:
arm and body motions, and wrist motions. The individual joint motions [email protected]
associated with these two categories are sometimes referred to by the Received June 01, 2018; Accepted June 09, 2018; Published June 18, 2018
term “degrees of freedom”, and a typical industrial robot is equipped
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot
with 4 to 6 degrees of freedom. Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408
The robot motions are accomplished by means of powered joints.
Connecting the various manipulator joints together are rigid members Copyright: © 2018 Manjula VS, et al. This is an open-access article distributed
under the terms of the Creative Commons Attribution License, which permits
that are called links. The joints used in the design of industrial robots unrestricted use, distribution, and reproduction in any medium, provided the
typically involve a relative motion of the adjoining links that is either original author and source are credited.

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 2 of 8

human beings. [3] Anticipating the dangers and havoc such a device
could cause, he postulated rules for their ethical conduct. Robots were
required to perform according to three principles known as “Three
laws of Robotics” which are as valid for real robots as they were for
Asimov’s robots and they are:
• A robot should not injure a human being or, through inaction,
allow a human to be harmed.
• A robot must obey orders given by humans except when that
conflicts with the First Law.
• A robot must protect its own existence unless that conflicts
with the First or Second law.
These are very general laws and apply even to other machines and
appliances. They are always taken care of in any robot design.
Figure 2: A Three DOF – 2D Manipulator.
Kinematic Model
Forward position kinematics Cos θ1 − Sinθ1 0  Cos θ 2 − Sinθ 2 l1  Cos θ3 − Sinθ3 l2  1 0 l3 
    
ee
bs T = 04 T (θ1 ,θ 2 ,θ3 ) =
sin θ1 − cosθ1 0  sin θ 2 − cosθ 2 0  sin θ3 − cosθ3 0  0 1 0  (6)
In the forward kinematics, if we are given the joint angles, we have to 0 0 1 0 0 1  0 0 1  0 0 1 
find out the position of the end effector. In this manner, we construct the
different transformation matrices and combine them in the right way, Cos (θ1 + θ 2 + θ3 ) − Sin (θ1 + θ 2 + θ3 )

ee
the result being bs T , where “ee” denotes end effector and “bs” denotes =  Sin (θ1 + θ 2 + θ3 ) Cos (θ1 + θ 2 + θ3 )
base i.e., the pose frame of the robot manipulator. This would be done  0 0
 (7)
by the use of the Denavit-Hartenberg convention. The transformation
that relates the last and first frames in a serial manipulator arm, and l1 Cosθ1 + l2 cos(θ1 + θ 2 ) + l3 (θ1 + θ 2 + θ3 ) 

thus the solution to the forward kinematics problem is then represented l1 sin θ1 + l2 sin (θ1 + θ 2 ) + l3 sin (θ1 + θ 2 + θ3 ) 
by the compound transformation matrix. The axes are moving; thus, 
1 
the compound homogeneous transformation matrix is found by pre-
multiplying the individual transformation matrices. [4] Inverse position kinematics
ee
T =0N T =10 T12 T23 T.... (1) The inverse kinematics problem is the opposite of the forward
bs
kinematics problem. If we are given the desired position of the end
L1,l2 and l3 are the lengths of the arm; θ1,θ2 and θ3 are the twisted effectors, we can be able to find out the joint angle. This would be done
angles respectively. by two types of solutions. They are:
The pose of the first link, relative to the reference frame is given by: • Closed form (or) Analytical solution
Cos θ1 − Sinθ1 0  • Numerical solution.
 
=1 (θ1 ) sin θ1 − cosθ1 0 
T (2)
The closed form (or) analytical solution is a set of equation that
0 0 1 fully describe the connection between the end effector position and
joint angles. The numerical solution is found through the use of
Cos θ3 − Sinθ3 l2  numerical algorithms.
 
T=
3 (θ 3 ) sin θ3 − cosθ3 0 
(3)
0 0 1  Mechanical Design
This corresponds to a rotation by an angle θ2 and translation by a Multi-functional steering bracket
distance l1 i.e., the length of the first link. It is a common type of bracket that is suitable for South Korea's
The pose of the third link, relative to the second link is given by HS322, HS422, Tower Pro MG995, MG996, SG5010, Hitec, Parallax,
Figure 2: Futaba and other brands of (about 40 × 20 × 36 mm) standard servo.
It is made from a 2 mm hard punch forming aluminium alloy material
Cos θ3 − Sinθ3 l2  that has high strength, light quality and surface sandblasting oxidation
 
T=
3 (θ 3 ) sin θ3 − cosθ3 0 
(4)
treatment (Figure 3). It reserves a variety of M3 and M4 mounting
0 0 1  holes, with other structures capable of being connected by flexible
installation method.
The pose of the end effector, relative to the third link is given by:
1 0 l3 
U-shaped bracket
  (5)
T4 = 0 1 0  The bracket suits standard servos of the size of about 40 × 20 ×
0 0 1  36 mm and is compatible with all commercially available conventional
servos (MG995, SG5010, Hitec's HS322, HS422, Parallax, Futaba etc.)
The solution to the forward kinematics problem is a 3 × 3 matrix The bracket surfacing is done by sandblasting oxidation and its size is
given by, 56 × 25 × 64.5 mm. It is composed from a 2 mm hard aluminium plate

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 3 of 8

with high hardness, light weight and very high precision technology. Its heavy objects. Because the fingers move parallel to each other, a better
net weight is about 21 grams (Figure 4). grip is achieved Figure 6. There is a mounting plate on the bottom
which accepts the standard spacing found on servo mounts. The servo
Long U-shaped beam mounting holes are 34 mm apart.
The beam has a sandblasting oxidation surfacing, size of 90 × 29 ×
Metal rudder plate
42 and weighs about 50 grams (Figure 5).
It is made from a Computer Numeric Control (CNC) Aluminium
Mechanical claw for an adjustable type servo arm. It consists of M3 tapped mounting
The robotic claw is efficient for all gripping needs. It is made from holes with spacing of 14 mm Figure 7. The servo disc diameter is
aluminium and is heavy-duty. The claw opens to about 2 inches and 20 mm. The pinking aperture and quantity are 5.5 mm and 25 mm,
depending on the servo motor used, it can pick up some relatively respectively. It is suitable for (40 × 20 × 36 mm) standard servos and
is easy to repair.
MG996R servo motor
The TowerPro MG996R servo motor is a high-torque digital servo
with metal gearing, shock-proofing and an accurate Printed Circuit
Board (PCB) and Integrated Circuit (IC) control system. The servo can
rotate approximately 120 degrees (60 in each direction). Servo code,
hardware or libraries may be used to control the motor. Its weight is
about 55 grams with dimensions of approximately 40.7 × 19.7 × 42.9
mm. It has a stall torque of 9.4 kgf·cm (4.8 V) and 11 kgf·cm (6 V)
with an operating speed of 0.17 s/60 (4.8 V) and 0.14 s/60º (6 V). The
operating voltage is 4.8 V to 7.2 V with a running current of 500 mA
to 900 mA (6V) and stall current of 2.5 A (6V) (Figure 8). The dead
Figure 3: Multi-functional Steering Bracket.
bandwidth is 5μs. It is stable and has a double ball bearing design. The
temperature range is from 0°C to 55°C.

Electrical and Electronic Design

Microcontroller
The PIC16F877A is one of the PIC Micro families of microcontrollers
which is currently popular among professionals and hobbyists alike.
This is because the PIC16F877A is easily programmed and with the
FLASH memory technology allows up to a thousand re-writes [5]. The
superiority of this microcontroller compared with others within its
peer group show that the PIC has the speed and flexibility for many
uses, from automotive industries and controlling home appliances to
industrial instruments, remote sensors, electrical door locks and safety
Figure 4: U-shaped Bracket. devices. It is also ideal for smart cards as well as for battery supplied
devices because of its low consumption. Low cost, low consumption,
easy handling and flexibility make the PIC16F877A applicable even

Figure 5: Long U-shaped Beam.

Figure 7: Metal Rudder Plate.

Figure 6: Mechanical Claw or Gripper. Figure 8: TowerPro MG996R Servo Motor.

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 4 of 8

in areas where microcontrollers had not previously been considered applied to it) using the principle of conservation of electricity. Later
(example: timer functions, interface replacement in larger systems, that same year, it was verified by the Curie brothers [7]. The HC-49S is
coprocessor applications, etc.) [6]. In system programmability of this a 2-pin piezoelectric crystal oscillator with size dimensions of 11×5×11
chip (along with using only two pins in data transfer) makes possible mm. It is used to generate clock pulses, by resonance, required for the
the flexibility of a product, after assembling and testing have been synchronization of all the internal operations in the microcontroller
completed (Figure 9). This capability can be used to create assembly- (Figure 11). The frequency is 8 Mhz and frequency tolerance is ±20
line production, to store calibration data available only after final parts per million (ppm). The load capacitance is 20 pF and effective
testing, or it can be used to improve programs on finished products. resistance is 30 Ω.
Features of the PIC Microchip microprocessors are that they are
easily programmed, have built in EEPROM, and an abundance of Transformer
development tools. The PIC16F877A microprocessor has 8K of flash Transformers are used either to increase or to decrease ac voltage.
program memory, 256K of EEPROM, and 3 timers, making it an Transformers are made by using two separate sets of wire windings,
excellent choice for this research [5]. which are wound on a metal core and are called the primary and the
secondary windings. A transformer that increase voltage is called
Oscillator
a step-up transformer and one that decrease voltage is called a step-
The quartz crystal unit is one of the most remarkable electronic down transformer. Transformers do not operate with dc voltage
devices developed by man. Today, the low cost for the frequency applied, since dc voltage does not change in value. Notice in Figure 12
precision that is derived from it is unparalleled by any other device. that ac voltage is applied to the primary winding of the transformer.
Recently, however, it is beginning to get some competition from MEMS There is no connection of the primary and secondary windings. The
(Microelectromechanical Systems) resonators. Quartz is a compound/ transfer of energy from the primary to the secondary winding is due
mineral comprised of silicon and oxygen (SiO2) as shown in Figure 10. to magnetic coupling or mutual inductance. The transformer relies on
electromagnetism to operate. The primary and secondary windings of
Silicon (27.7%) and Oxygen (46.6%) are two of the most abundant
transformers are wound around a laminated iron core. The iron core
elements on earth. Quartz is all around us in large quantities (about
is used to transfer the magnetic energy from the primary winding to
10% to 14% of the Earth’s crust is SiO2) and is easily seen. In 1880, the
the secondary winding. The operation of a transformer relies on the
brothers Jacques and Pierre Curie discovered the direct piezoelectric
expanding and collapsing of the magnetic field around the primary
effect on quartz. They were able to measure a charge on the surface
winding. When current flows through a conductor, a magnetic field
of natural quartz whose magnitude was proportional to the pressure
is developed around the conductor. When ac voltage is applied to
applied on it. In 1881, the French physicist Gabriel Lippmann predicted
the primary winding, it causes a constantly changing magnetic field
the converse piezoelectric effect (a crystal is strained when a voltage is
around the primary winding. During times of increasing ac voltage,
the magnetic field around the primary winding expands. After the
peak value of the ac cycle is reached, the voltage decreases toward zero.
When the ac voltage decreases, the magnetic field around the primary
winding collapses. The collapsing magnetic field is transferred to the
secondary winding [8].The transformer used steps down 230 volts to
6volts with a current limit of 2A at a frequency ranging from 50 to 60
Hertz.
Figure 9: PIC16F877A microcontroller.

Figure 11: HS-49S Crystal Oscillator (8 MHz).

Figure 10: Atomic lattice of silicone dioxide, quartz. The structure as a

whole has no center of symmetry. The absence of a center of symmetry is
a necessary condition for the piezoelectric effect. Figure 12: 7805(left) and 78c06(right) voltage regulators.

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 5 of 8

Voltage regulators A pn-junction diode is formed when a p-type semiconductor is

fused to an n-type semiconductor creating a potential barrier voltage
A voltage regulator converts a varying input voltage into a constant across the diode junction. The most common function of a diode is
‘regulated’ output voltage. Thus, a voltage regulator supplies a constant to allow an electric current to pass in one direction (called the diode's
voltage at the output regardless of the magnitude of load current forward direction), while blocking it in the opposite direction (the
supplied. Integrated Circuit (IC) voltage regulators are relatively reverse direction).
cheap as compared to regulators designed using op-amps. IC voltage
regulators are available in a variety of output voltages. The LM78xx A Light Emitting Diode (LED) is an optical semiconductor device
series of voltage regulators are designed for positive voltage input. There that emits light when a voltage is applied. When the Light Emitting
are negative voltage regulators that are marked LM79xx. These are fixed Diode (LED) is forward biased, free electrons in the conduction band
output voltage regulators. The other types of voltage regulators are recombine with the holes in the valence band and release energy in the
adjustable output voltage regulators, switching regulators, and special form of light. The process of emitting light in response to the strong
types of regulators. In switching regulators, a switch is turned on and electric field or flow of electric current is called electroluminescence.
off at a rate so as to supply a periodic pulse of current to the load; the
A push button is a momentary or non-latching switch which causes
average of these pulses being equal to the requirement. All other types
a temporary change in the state of an electrical circuit only while the
of regulators are called linear voltage regulators. With proper heat sink,
switch is physically actuated. An automatic mechanism (i.e., a spring)
the LM78xx ICs can handle output current even somewhat more than
returns the switch to its default position immediately afterwards,
1000 mA. Linear voltage regulators are manufactured by companies
restoring the initial circuit condition.
like Fair Child and ST Microelectronics [9].The xx in LM78xx indicates
the fixed output voltage it is designed to provide. LM7805 provides +5V Simulation and Testing
regulated output voltage while LM7806 provides +6V. LM7905 gives
an output voltage of -5V. Capacitors of suitable values are connected at The simulation circuit for the PCB design was implemented using
the input and output pins depending upon the respective voltage levels. Autodesk Eagle. The circuit is energized by a direct current (DC) power
supply circuit that is connected to the mains voltage. A bridge rectifier
Resistors is used to convert the AC supply voltage into a DC voltage. The circuit
contains ripples thus a filtering capacitor is used to smoothen the DC
The carbon composition resistor consists of a resistive carbon
output before it is fed to the regulator. The voltage regulator gives a
composition material with leads embedded in its opposite ends.
constant DC voltage and current output to be fed to the microcontroller
The whole structure is surrounded by an insulating paint coating
circuit. The PIC input voltage is +5V and that of the servo motors is +6V.
and moulded into a cylinder. The resistance material is a mixture of
powdered carbon and insulation. Carbon composition resistors (CCR) Three push button switches are on-board. The switch (S1) is used
are fixed form resistors. They are made out of fine carbon particles as the external reset switch that activates the Master Clear ( MCLR )
mixed with a binder (for example clay). After baking, they exhibit a pin. The MCLR pin, when enabled, will hold the device in reset mode
solid form. They are used to reduce current flow, adjust signal levels, to as long as the pin is pulled low. During normal operation, it needs to
divide voltages, bias active elements etc. be pulled high typically through a resistor to V+. When an external
Capacitors are used to store an electric charge. An electrolytic MCLR reset occurs, the program counter will be reset to the top of
capacitor is a type of capacitor that uses an electrolyte to achieve a the program execution or memory location 0x00 which is the start of
larger capacitance than other capacitor types. An electrolyte is a liquid all program memory. The second switch (S2) and third switch (S3) are
or gel containing a high concentration of ions (Figure 13). both connected to PORTA. PORTA is set as an input port to initiate
the execution of a line of statements. PORTB and PORTD are set as
A ceramic capacitor uses a ceramic material as the dielectric. output ports. PORTB outputs are directed to the servo connector slot
The two most common types are multi-layer ceramic capacitors and to activate the data pins of the servo motors. PORTD outputs are used
ceramic disc capacitors. Ceramic capacitors are usually made with very to switch on the LEDs to signify which servo motor is currently in
small capacitance values, typically between 1 nF and 1 µF, although operation and to show when the circuit is active.
values up to 100 µF are possible.
Figure 14a shows the printed circuit board (PCB) top view of the
microcontroller module targeted for the manufacturer. On it are all the
circuit components laid out in the most appreciable manner. Figure
14b shows the PCB bottom view of the controller module showing the
current path and drill holes.
Figure 15 illustrates the simulation model for the servo connector.
The servo slots have five 3-pins to place the servo motors. The first pin
takes a +6V from the regulation circuit, the second pin receives the data
signal from the PORTB outputs and the third pin is grounded.
Figure 16a displays the PCB top view of the servo connector
module. On it are the five slots for the servo motors and the data slot
from the microcontroller. Figure 16b highlights the PCB bottom view
of the servo connector module.
Figure 13: (a) Carbon Composition Resistor (CCR), (b) Electrolytic
Capacitor, (c) Ceramic Disc Capacitor, (d) pn-junction Diode, (e) Light Results
Emitting Diode, (f) Push-button switch.
The robot arm was fixed to a wooden stage that encompassed its

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 6 of 8

Figure 14: Simulation circuit of microcontroller module.

Figure 15: (a) PCB Top view of microcontroller module. (b) PCB Bottom view Figure 17: (a) PCB top view of servo connector, (b) PCB bottom view of
of microcontroller module. servo connector.

workspace for operation. It worked with the mains supply voltage and
its circuitry was fixed with it on the stage. Pick and place destinations
were made available along a linear translation.
Figure 17 shows the robot in operaton as it starts to pick the small
box from its initial position and Figure 18 shows the robot at the near
completion of its operation as it places the box at its target depot
location (Figures 19-23).

Future Implementations
The future designs suggest that the robot may be associated with
battery power to continue operations when there are shortages or
fluctuations in the mains supply. A locomotive vehicle system when
Figure 16: Simulation circuit of servo connector.
incorporated allows it to move on the ground and perform operations
in variable workspaces. The robot may be linked to an aerial vehicle or
drone that will allow it to perform manipulations in space. A vision

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 7 of 8

Figure 18: Robot picking up the box.

Figure 19: Robot placing the box.

Figure 20: Robot 3D model.

Figure 21: Robot drawing model in Autodesk Inventor.

J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:
10.4172/2168-9679.1000408

Page 8 of 8

Figure 22: Proteus Simulation of Robot System.

Conclusion
The robot was tested successfully and was capable of picking
objects and migrating them across a 10-inch horizontal, with accuracy,
precision and efficiency. The repeatability and speed of operation was
high making the robot suitable for dexterous tasks.
Conflict of Interest
The authors declare there is no conflict of interest with the publication of this
paper.

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Figure 23: Output waveforms of servo operation. 2: 12.

4. Jaganathan P (2013) Robotics (Industrial Robotics). Lakshmi Publications pp:

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J Appl Computat Math, an open access journal Volume 7 • Issue 3 • 1000408

ISSN: 2168-9679