DEPARTMENT OF ELECTRONICS AND COMMUNICATIONPage 20

INTRODUCTIONIn the recent past, wireless controlled vehicles had been extensively used in a lot of areas like unmanned rescue missions, military usage for unmanned combat and many others. But the major disadvantage of these wireless unmanned robots is that they typically make use of RF circuits for maneuver and control. Essentially RF circuits suffer from a lot of drawbacks such as limited frequency range i.e. working range, and limited control. To overcome such problems associated with RF control, few papers have been written, describing methods which make use of the GSM network and the DTMF function of a cell phone to control the robotic vehicle. This paper although uses the same principle technology of the GSM network and the DTMF based mobile phone . In Cell phone Robot project, we need two mobile phones. The mobile controlled robot is controlled by a mobile phone that makes a call to the another mobile phone attached to the robot. In the course of a call, if any button is pressed, a tone corresponding to the button pressed is heard at the other end of the call. This tone is called Dual Tone Multiple-Frequency (DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked on the robot. The received tone is processed by the microcontroller with the help of a decoder IC. The microcontroller then transmits the signal to the motor driver ICs to operate the motors. Since this robot is controlled by dialing a call so we can also call it as DTMF controlled robot.

1.2 OBJECTIVEIn manufacturing industries pick and place robots was ivented to be used as hardware o solving and accomplishing most of the task that cannot be done by human being and also to be faster and pinch the production time.

LITERATURE SURVEY2.1 HISTORYIn 1898, Nikola Tesla built the first propeller driven radio controlled boat, which can be regarded as the original prototype of all modern day uninhabited aerial vehicles and precision guided weapons. Records state that it is the first among all remotely controlled vehicles in air, land or sea. It was powered by lead-acid batteries and an electric drive motor. The vessel was designed in such a way that it could be maneuvered alongside a target using instructions received from a wireless remote-control transmitter. Once in its position, a command would be sent to detonate an explosive charge contained within the boats forward compartment. The weapons guidance system introduced a secure communications link between the pilots controller and the surface running torpedo in an effort to assure that control could be maintained even in the presence of electronic counter measures. Wireless controlled unmanned vehicles which are used nowadays typically use RF circuits for motion and control. But RF circuits suffer from the disadvantage of limited working range which results in limited control. As RF circuits follows LOS (Line of sight) approach, it fails miserably in NLOS (Non-Line of Sight) conditions involving obstacles and barriers. To overcome these, one method was proposed by Awab Farikh et al, (2010) [1] which typically makes use of the DTMF technology along with a microcontroller based circuit for maneuver and control of these unmanned robotic vehicles. Similarly, Ashish Yadav et al, (2012) [2] also proposed the construction of an unmanned vehicle which could be especially used for ground combat using a similar technology. Recently, Sabuj Das Gupta et al (2013) [3] discussed in detail about how the method described in [1] could be implemented using a microcontroller by providing the necessary circuit details and the software code.

3.1 PROPOSED METHODOLOGY Here the robot is controlled by the mobile phone that makes the call to the mobile phone attached to the robot.

During the course of the call, if any button is pressed, control corresponding to the button pressed is heard at the other end of the call. This unique tone is received by the mobile on the robot, and is decoded with the help of the CM8870 IC.

The received tone is then processed by the Atmega8 microcontroller into its equivalent binary digit, according to which it is pre-programmed to take a decision for any given input and outputs its decision to the motor driver, in order to drive the motors forward, backward or for rotatory motion.

The mobile that makes a call to the mobile phone kept in the robot acts as a remote. So this simple robotic project does not require the construction of receiver and transmitter units.

3.2 PROPOSED COMPONENTS ATMEGA8L MICROCONTROLLER:

FIG:3.1 ATMEGA8LA microcontroller (sometimes abbreviated C or uC) is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals. Program memory in the form of NOR flash or OTP ROM is also often included on chip, as well as a typically small amount of RAM. Microcontrollers are designed for embedded applications, in contrast to the microprocessors used in personal computers or other general purpose applications. ATMega8L 8PU is a 28 Pin 8kb 8 bit Atmel AVR Microcontroller 131 Powerful Instructions Most Single Clock Cycle Execution 512 Bytes EEPROM 1K Bytes. It is a low-power CMOS 8-bitmicrocontroller which is based on the AVR RISC architecture. I/O and Packages 23 Programmable I/O Lines 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF Operating Voltages 5.5V (ATmega8L)4.5 5.5V (ATmega8) Speed Grades0 8 MHz (ATmega8L)3.2.2. DTMF DecoderDTMF generation is a composite audio signals of two tones between the frequency of 697Hz and 1633Hz. The DTMF keypad is arranged such that each row will have its own unique tone frequency and also each column will have its own unique tone. Below is a representation of the typical DTMF keypad and the associated row/column frequencies. By pressing a key, for example pressing key 5, will generate a dual tone consisting of 770 Hz for the low Group, and 1336 Hz of the high group.

FIG 3.2:DTMF KEYPAD Then it is decoded using MT8870 C which is DTMF decoder . hence in this way device identify the instruction and work accordingly .

3.2.3LM7805 VOLTAGEREGULATOR

It has 5V Regulated output voltage. Input voltage range:5V-18V The voltage circuit may have fluctuation and would not give fixed output. Pin1-input , Pin2-gnd , Pin3-output

3.2.4Power Supply The basic step in the designing of any system is to design the power supply required for that system. The steps involved in the designing of the power supply are as follows, 1) Determine the total current that the system sinks from the supply. 2) Determine the voltage rating required for the different components.

FIG 3.3: POWER SUPPLY

3.2.5 MOTOR DRIVER (L293D)The current supplied by the PIC is not sufficient to drive the motors and thus, we have to use a motor driver for driving the motors. Here we are using L298N which is a Quadruple Half-H Driver. The L283N is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. All inputs are TTL compatible. Specifications: 1. Driver can drive two motors at a time. 2. It outputs a current of 600mA.

FIG 3.4: L293D

MOTORS For our application we are going to use the DC motors. As they are having the high torque so these are the choice for the picking application.

3.3 METHODOLGY FLOW CHART

FIG:3.5 METHODOLOGY FLOW CHART

3.4 BLOCK DIAGRAM

FIG:3.6 BLOCK DIAGRAM

3.5 PCB LAYOUT

FIG:3.7 PCB LAYOUT of MICROCONTROLLER section

FIG:3.8 PCB LAYOUT OF MOTOR DRIVER SECTION

3.6 ACTUAL PHOTOGRAPH OF PROJECT

FIG:3.9 ACTUAL PHOTOGRAPH

3.7 WORKING1. Initially Robot is at a rest position, i.e. state when all motors are stopped and no object is picked or placed.2. Once the power supply is turned on, microcontroller will wait for signal from DTMF decoder which is connected to a mobile phone.3. User can send various instructions to the robot by dialing a call to the mobile phone which is connected to Robot.4. When microcontroller gets signal to pick the object, it moves gripper motor in say clockwise direction for a fixed time.5. When user gives command to move arm in Up direction then vertical motor moves in clockwise direction due to which whole arm moves towards or away from picking object.6. Once user realizes that object is picked then he/she can give command to close the grip. Then gripper motor stops to hold the object by closing jaw.7. User can give command to move arm in UP direction and now vertical motor is started in say clockwise direction. This motor also, is on for particular fixed time instant.8. Now user can give command to move the Robot in forward or reverse direction. 9. Depending on command wheel motor is moved in forward or opposite (here anticlockwise) direction till the time it reaches the placing platform.10. As it reaches placing platform, user can give command sequence to release object the motor M1 stops and M2 is switched ON in opposite (here anticlockwise) direction till it releases object properly on desired place.

3.8 CIRCUIT DIAGRAM

DTMF DECODR CIRCUIT (Diagram A)13121110

7824272625vccgnd2345ATmega8L

6111213L293D

FIG 3.10: CIRCUIT DIAGRAM

3.9 CODING /*****************************************************This program was produced by theCodeWizardAVR V1.24.8d ProfessionalAutomatic Program Generator Copyright 1998-2006 Pavel Haiduc, HP InfoTech s.r.l.http://www.hpinfotech.com

Project : Version : Date : 4/30/2015Author : F4CG Company : F4CG Comments: Chip type : ATmega8LProgram type : ApplicationClock frequency : 1.000000 MHzMemory model : SmallExternal SRAM size : 0Data Stack size : 256*****************************************************/#include #include

// Declare your global variables here

void main(void){// Declare your local variables here// Input/Output Ports initialization// Port B initialization// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out // State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0 PORTB=0x00;DDRB=0x00;

// Port C initialization// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTC=0x00;DDRC=0x00;

// Port D initialization// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In // State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T PORTD=0x00;DDRD=0x00;

// Timer/Counter 0 initialization// Clock source: System Clock// Clock value: Timer 0 Stopped// Timer/Counter 2 initialization// Clock source: System Clock// Clock value: Timer 2 Stopped// Mode: Normal top=FFh// OC2 output: DisconnectedASSR=0x00;TCCR2=0x00;TCNT2=0x00;OCR2=0x00;

// External Interrupt(s) initialization// INT0: Off// INT1: OffMCUCR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initializationTIMSK=0x00;

// Analog Comparator initialization// Analog Comparator: Off// Analog Comparator Input Capture by Timer/Counter 1: OffACSR=0x80;SFIOR=0x00;

while (1) {if(PIND.0==0 && PIND.1==1 && PIND.2==0 && PIND.3==0)//FORWARD { PORTB.1=1,PORTB.2=0,PORTB.3=1,PORTB.4=0; PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=0; } else if(PIND.0==0 && PIND.1==0 && PIND.2==0 && PIND.3==1)//REVERSE { PORTB.1=0,PORTB.2=1,PORTB.3=0,PORTB.4=1; PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=0; } else if(PIND.0==0 && PIND.1==1 && PIND.2==1 && PIND.3==0)//RIGHT { PORTB.1=0,PORTB.2=0,PORTB.3=1,PORTB.4=0; PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=0; } else if(PIND.0==0 && PIND.1==0 && PIND.2==1 && PIND.3==0)//LEFT { PORTB.1=1,PORTB.2=0,PORTB.3=0,PORTB.4=0; PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=0; } else if(PIND.0==1 && PIND.1==0 && PIND.2==0 && PIND.3==0)//hand down { PORTC.0=1,PORTC.1=0,PORTC.2=0,PORTC.3=0; PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0; } else if(PIND.0==1 && PIND.0==1 && PIND.2==0 && PIND.3==0)//hand UP { PORTC.0=0,PORTC.1=1,PORTC.2=0,PORTC.3=0; PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0; } else if(PIND.0==1 && PIND.1==1 && PIND.2==1 && PIND.3==0)//hand CLOSE { PORTC.0=0,PORTC.1=0,PORTC.2=1,PORTC.3=0; PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0; } else if(PIND.0==1 && PIND.1==0 && PIND.2==0 && PIND.3==1)//hand CLOSE { PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=1; PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0; } else if(PIND.0==1 && PIND.1==0 && PIND.2==1 && PIND.3==0)//STOP { PORTB.1=0,PORTB.2=0,PORTB.3=0,PORTB.4=0; PORTC.0=0,PORTC.1=0,PORTC.2=0,PORTC.3=0; } };}SUMMMARY AND RESULT ANALYSIS4.1 SUMMARY

This robot is used for pick the object in one place and place that objects in required places. Some industrial works are harmful for humans this robot is mainly used for reduce the risk process and consuming time and avoid labors. Human are tired for hard work such as assembly line, material handling etc. this robot does all those things it mainly reduces the manual work our robot is designed at low cost as well as high efficient one.This project is to give the way for providing bigger effective robot forindustrial applications.

4.2 RESULT ANALYSISFinally main parameters of developed system are as follows :-1. The system is compact , user friendly and portable . 2. Low power consumption facility.3. Large range . 4. This project is easy to use.5. This project can be used in Industries, Home, Office, Shops.

CONCLUSION AND FUTURE WORK

6.1 CONCLUSIONThe report contains a very different mix of studies varying from software to hardware. This is an autonomous robot arm with a three dimensional reach which could automatically detect and pick an object. Then it could place it in a destination and change the orientation as specified by the user.

6.2 FUTURE WORK We can provide voice feedback system. We can add camera and sensors to this project.

REFERENCESBooks Embeded C Applied Electronics by S.ChandInternet www.engineersgarage.com www.circuitstoday.com