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

TABLE OF CONTENT
CHAPTER ONE
The Problem and its Setting
Introduction
Statement of Problem Definition
Sub- Problem Definition
Hypothesis
Limitations
Delimitation
Definition of Terms
Need For The Study
Assumptions
Organization

CHAPTER TWO
11: Review of Relation Literature
Introduction
Science Roles
Artificial Intelligent
Simulation

CHAPTER THREE
111: Designation of The Study
Introduction
Components
Procedures For The Design
Circuit For The Design
Flowchart For The Design
CHAPTER FOUR
Iv: Presentation And Analysis of The Design
Introduction
The Software Requirement
Detail Analysis of The Design
System Description
General Analysis

CHAPTER FIVE
V: Summary
Conclusion
Recommendation
Bibliography
Appendices

CHAPTER ONE
THE PROBLEM AND ITS SETTING
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