MECHATRONICS STUDY PROGRAM

ROBOTICS PROJECT
PROJECT NOTE #3b:
Four (4) DEGREE OF FREEDOM ROBOTIC ARM DESIGNANDROID APP
WIRELESS CONTROL FOR NODEMCU ESP8266 BY USING MIT
APPLICATION INVENTOR

MME, Batch #10

Dr. Ir. Hanny J. Berchmans, M.T., M.Sc.
Saturday, 3 October 2020
MECHATRONICS STUDY PROGRAM

OUTLINE

❑ MOBILE PHONE APPLICATION with MIT APPLICATION INVENTOR FOR CONTROLLING 5

DOF ROBOTIC ARM WIRELESSLY
❑ WIFI COMMUNICATION FOR 4 DOF ROBOTIC ARM BY USING NODEMCU ESP8266
❑ FULL SETUP OF 5 DOF ROBOTIC ARM CONTROL BY USING WIFI SIGNAL FROM MOBILE
PHONE APPLICATION
 MOBILE PHONE APPLICATION with MIT
APPLICATION INVENTOR FOR CONTROLLING 5
MECHATRONICS STUDY PROGRAM DOF ROBOTIC ARM WIRELESSLY

❑ Designing the App:

 MOBILE PHONE APPLICATION with MIT
APPLICATION INVENTOR FOR CONTROLLING 5
MECHATRONICS STUDY PROGRAM DOF ROBOTIC ARM WIRELESSLY

❑ Designing the App:

 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ Designing the App:

▪ The Blocks program
 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ Designing the App:

▪ The Blocks program
 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ Designing the App:

▪ The Blocks program
 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ Designing the App:

▪ The Blocks program
 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ Designing the App:

▪ The Blocks program
 COMPUTER APPLICATION with VISUAL
STUDIO FOR CONTROLLING 5 DOF
MECHATRONICS STUDY PROGRAM ROBOTIC ARM WIRELESSLY

❑ SM4DOFATMEGA App features:

▪ This App is for free. Free for use and distribution.
▪ The App purpose is to control Four (4) Degree of Freedom Robotic Arms.
▪ Key Features:
1. Has one types of communication: (i) by using Arduino Serial Communication or (ii) by using Arduino
WiFi
2. Has one (1) type of joint movement for each time
3. The program is designed to use with NODEMCU ESP8266 & Arduino ATMEGA 2650 ESP8266 Wifi.
4. This program can only control 4 DOF Robotic Arm
MECHATRONICS STUDY PROGRAM

OUTLINE

❑ MOBILE PHONE APPLICATION with MIT APPLICATION INVENTOR FOR CONTROLLING 5

DOF ROBOTIC ARM WIRELESSLY
❑ WIFI COMMUNICATION FOR 4 DOF ROBOTIC ARM BY USING NODEMCU ESP8266
❑ FULL SETUP OF 5 DOF ROBOTIC ARM CONTROL BY USING WIFI SIGNAL FROM MOBILE
PHONE APPLICATION
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

❑ NODEMCU ESP8266
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

❑ NODEMCU ESP8266
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
MECHATRONICS STUDY PROGRAM ARM BY USING NODEMCU ESP8266

❑ NODEMCU ESP8266
▪ To read an analog signal through the NodeMCU, Analog to Digital conversion is required. A NodeMCU has
10 bit ADC which means it scales an analog signal in a range of 0-1023.
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

NodeMCU ESP8266 Expansion Base Board

▪ This NodeMCU ESP8266 Expansion Base Board is an expansion board designed to work with the NodeMCU V3 ESP8266
ESP-12E. Powered by 6V to 24V DC input, it provides the support power to operate the NodeMCU V3, and provide easy
connection to all of its input and output pins to help you connect your NodeMCU board to other devices.
▪ Features:
o Barrel Input Connector for DC Voltage Input for AC/DC Adapters (6-24VDC)
o All NodeMCU Lolin V3 pinouts are brought on headers
o Multiple Header pins for ease of connectivity with other external devices
▪ On-Board Switch-mode 5V regulator
▪ Power Supply Headers for :
o VIN
o +5V
o 3.3V
o USB VCC / VUSB
▪ Antenna Mark for Correct orientation of the NodeMCU module insertion On board LED indicator
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

NodeMCU ESP8266 Expansion Base Board

▪ Technical Specifications:
▪ Input Voltage: 6V – 24V DC
▪ PCB Thickness: 1.6mm
▪ NodeMCU Pin Distance between sides: ~28.0mm
▪ Pin Pitch: 2.54mm (0.1in)
▪ Board Dimensions: 60.0mm x 60.0mm x 15.0mm (L x W x H)
▪ Weight: 22.5 g
 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

NodeMCU ESP8266 Expansion Base Board

 WIFI COMMUNICATION FOR 5 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266
MECHATRONICS STUDY PROGRAM

❑ Programming with NODEMCU ESP8266

▪ There are different ways to program the ESP8266, but here we only cover the method
using the Arduino IDE. This is really easy for beginners, and it's a very familiar
environment if you've used Arduino boards before.

▪ Requirements. You'll need a couple of things in order to follow this guide:

▪ An NODEMCU ESP8266 board (with or without baseboard)

▪ A computer that can run the Arduino IDE (Windows, Mac or Linux)
▪ A USB-to-Serial converter, it is very important that you use a 3.3V model*
▪ A USB cable
▪ A 3.3V power supply or voltage regulator*
▪ A Wi-Fi network to connect to

(*) Your board may already include these. More information can be found in the next chapter.
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ Programming with NODEMCU - ESP8266

START

No
DEVELOP ESP SKETCH
PROGRAM FIRST & THEN Connected to the
UPLOAD IT INTO NODEMCU RUN/OPEN SERIAL MONITOR ARDUINO?
ESP8266 TO CHECK IP ADDRESS OF THE
DEVICE
Yes

CONNECT ALL YOUR SYSTEM READY TO

SERVOMOTOR TO NODEMCU RUN/OPERATE
ESP8226 PINS & USE CONTINUOUSLY
EXTERNAL POWER FOR YOUR
No Connected to the
SERVOMOTORS
NETWORK?
STOP
Yes
DEVELOP COMPUTER APP &
MOBILE APP FOR
CONTROLLING SERVOMOTOR
RUN/OPEN the MS4DOFM APP
IN YOUR COMPUTER / MOBIL
PHONE
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ COMMUNICATION PROTOCOL
TRANSPORT CONTROL PROTOCOL USER DATAGRAM PROTOCOL

TCP UDP
port: 80 port: 389

FTP port: 20,21 HTTP LDAP SNMP port: 161, 162

TFTP port: 69
RDP NTP port: 123

port: 3389
SFTP port: 22

HTTPS DNS SIP port: 5060, 5061

SSH port: 22
port: 443 port: 53

Telnet port: 23

SMTP port: 25
DHCP port: 67, 68

IMAP port: 143

POP3 port: 110

 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ COMMUNICATION PROTOCOL
USER DATAGRAM PROTOCOL
NETWORLK LAYER
SIDE OF THE SENDER SIDE OF THE RECEIVER

Port 12437 segment Port 80

message message
Port 12438 Destination: 80
Port 81

Port 12439 Port 82

void loop(){
udp.beginPacket(DestinationIP, 2000);
Communication Protocol in Arduino program will use UDP : udp.write(replyBuffer);
#include <WiFiUdp.h> udp.endPacket();
WiFiUDP udp; }
Void setup(){ void receive_packet() {
Serial.begin(9600); int packetSize = udp.parsePacket();
WiFi.begin(ssid, password); if (packetSize) {
while (WiFi.status() != WL_CONNECTED) { IPAddress remoteIp = udp.remoteIP();
} int len = udp.read(packetBuffer, 255);
udp.begin(localPort); if (len > 0) packetBuffer[len] = 0;
} Serial.println(packetBuffer); }}
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ KEY HTTP COMMUNICATION PROTOCOL inside Visual

Studio program:
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ KEY HTTP COMMUNICATION PROTOCOL inside Arduino

sketch program:
Void setup {

WiFi.begin(NetworkTerpilih, PasswordNetworkTerpilih); //--> Connect to your WiFi router

Serial.print("Connecting");
while (WiFi.status() != WL_CONNECTED) {
Serial.print(".");
delay(250);
}

//------------------------Start the web-server

if(TypeOfConnection.toInt()==1){//If webserver is selected
serverweb.begin();
Serial.println("HTTP server started");
}
Serial.println("");
Serial.print("Successfully connected to : ");
Serial.println(NetworkTerpilih);
Serial.print("Your Arduino Wifi IP address : ");
Serial.println(WiFi.localIP());
}
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ KEY HTTP COMMUNICATION PROTOCOL inside Arduino

sketch program:
void loop {
WiFiClient client = serverweb.available();
if (!client) {
return;
}
Serial.println("new client");
client.setTimeout(1000); // default is 1000
String req = client.readStringUntil('\r');
Serial.println(req);
while (client.available()) {
client.read();
}
// Send the response to the client
client.print("HTTP/1.1 200 OK\r\nContent-Type: text/html\r\n\r\n");
client.println("[1]Message that send by your connected device");
client.print("[2]");
client.println(WiFi.localIP());
client.print("[3]");
client.println(NetworkTerpilih);
client.print("[4]");
client.print(PasswordNetworkTerpilih);
}
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ WIFI COMMUNICATION BY USING ARDUINO ATMEGA 2560

With WiFi Built-in Webserver

IP Address:
Send
192.168.0.101
data Receive
Laptop NODEMCU ESP8266 data
Upload Send
program data
SSID : XXX
Password : XXX
Download Request
data data
Request Receive
data data

Other Wireless Devices Sensor/Transducer Actuator

Mobile Phone
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ Flow chart Algorithm of NODEMCU ESP8266 WIFI

Connection, provide and obtain data from Webserver:
For the sake of this Robotic project course you may have a softcopy for
START this program in the file under file name:
EXECUTE LOOP MS4DOF-NODEMCU-Servo.Can.Run.v1.ino
To upload this file project you must use Arduino IDE. But before doing
INCLUDE All Necessary Library: No that you must do below:
#include <ESP8266WiFi.h>
1. Download dan install software IDE Arduino (sesuai dengan
#include <Servo.h> Operation System)
Connected to the
WIFI Client? 2. Kemudian buka software tersebut
SETUP All Devices in
3. Pilih dan klik menu file -> preferences
ARDUINO: Serial Yes 4. Pada bagian “Additional Boards Manager URL’s” masukan link
Communication, WIFI Server, dibawah berikut ini :
Connected Sensor & Actuator Read WIFI Client http://arduino.esp8266.com/stable/package_esp8266com_index.js
Request on
Provide SSID & PASSWORD for 5. Dan klik “OK”
the connected NETWORK 6. Setelah itu, klik “Boards Manager” pada menu tools -> board ->
Execute the program to
boards manager
read data form sensor or
to order actuator 7. Ketikan pada “filter your search” -> esp8266 by ESP8266
community
Connected to the 8. Kemudian klik install, dan tunggu beberapa detik sampai proses
No NETWORK?
selesai
9. Terakhir pilih close, dan untuk installing library ESP8266 sudah
Yes STOP selesai dilakukan

Note: my suggestion for learning is better to develop program by yourself but don’t start from scratch, please start
from the existing available program
 WIFI COMMUNICATION FOR 4 DOF ROBOTIC
ARM BY USING NODEMCU ESP8266 ARDUINO
MECHATRONICS STUDY PROGRAM ATMEGA 2560 With WiFi Built-in - ESP8266

❑ Setting up the board inside Arduino IDE

MECHATRONICS STUDY PROGRAM

OUTLINE

❑ MOBILE PHONE APPLICATION with MIT APPLICATION INVENTOR

FOR CONTROLLING 4 DOF ROBOTIC ARM WIRELESSLY
❑ WIFI COMMUNICATION FOR 4 DOF ROBOTIC ARM BY USING
NODEMCU ESP8266 ARDUINO ATMEGA 2560 With WiFi Built-in -
ESP8266
❑ FULL SETUP OF 4 DOF ROBOTIC ARM CONTROL BY USING
WIFI SIGNAL FROM MOBILE PHONE APPLICATION
 FULL SETUP OF 4 DOF ROBOTIC ARM
CONTROL BY USING WIFI SIGNAL FROM
MECHATRONICS STUDY PROGRAM MOBILE PHONE APPLICATION

❑ Wiring Diagram

Note: This diagram was created by using Fritzing application, you may free download it here: https://softfamous.com/fritzing/
 FULL SETUP OF 4 DOF ROBOTIC ARM
CONTROL BY USING WIFI SIGNAL FROM
MECHATRONICS STUDY PROGRAM MOBILE PHONE APPLICATION

❑ Photo and Video

 FULL SETUP OF 4 DOF ROBOTIC ARM
CONTROL BY USING WIFI SIGNAL FROM
MECHATRONICS STUDY PROGRAM MOBILE PHONE APPLICATION

❑ Photo and Video

 FULL SETUP OF 4 DOF ROBOTIC ARM
CONTROL BY USING WIFI SIGNAL FROM
MECHATRONICS STUDY PROGRAM MOBILE PHONE APPLICATION

❑ Photo and Video

MECHATRONICS STUDY PROGRAM

Dr. Ir. Hanny J. Berchmans, M.T. M.Sc.

+62811831965
hannyjberchmans2020@gmail.com