1

PROJECT REPORT

ON

GSM BASED ROBOT ARM CONTROL

SUBMITTED IN PARTIAL FULFILMENT OF THE REQUIREMENT FOR SECTION B IN

THE BRANCH OF ELECTRONICS & COMMUNICATION ENGINEERING OF AMIE (I)

EXAMINATION CONDUCTED BY THE INSTITUTION OF ENGINEERS (INDIA),

KOLKATA.

UNDER THE ESTEEMED GUIDANCE OF

PROF. V.K. GUPTA FIE (F-014105-O)

SUBMITTED BY

RAVINDRA SINGH BAGHEL (ST543553-1)

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TABLE OF CONTENTS

SL PAGE
SUBJECT
NO NO

1 CERTIFICATE OF ORIGINALITY OF THE PROJECT WORK 3

SYNOPSIS, CERTIFICATE OF APPROVAL OF THE OF THE

2 5
PROJECT WORK

3 TITLE OF THE PROJECT 8

4 OBJECTIVES OF THE STUDY 9

5 METHODOLOGY OF THE STUDY 10

6 STATEMENT OF THE PROBLEM 15

7 INPUT DATA/STRUCTURE/QUESTIONNAIRE 16

8 ANALYSIS/SOLUTION/DESCRIPTION 25

9 FINAL RESULT 25

10 CONCLUSION 26

11 SCOPE OF FUTURE STUDY 27

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CERTIFICATE OF ORIGINALITY

This is to certify that the project report entitled “GSM Based Robot Arm

Control” submitted by Mr. Ravindra Singh Baghel, ST543553-1 is a bonafide work

done by him under my supervision and guidance. He has satisfactorily completed

the project work as prescribed by The IEI, Kolkata for fulfillment of the requirements

for the completion of Section-B Examinations in Electronics and Communication

Engineering during Summer (June) 2015 Session. The data sources have been

dully acknowledged it may be considered for evaluation in partial fulfillment of the

completion of Section-B examination of IEI.

I wish them success in all their future endeavors.

Place: New Delhi RAVINDRA SINGH BAGHEL (ST543553-1)

Date:

PROF. V.K. GUPTA FIE (F-014105-O)

[Project Guide]
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ACKNOWLEDGEMENT

Here, I found this golden chance to acknowledge all those people who have
blessed, encouraged and supported me technically and morally through all the
phases of the project. I take this opportunity to express my profound sense of
gratitude. I thank all Almighty God for giving me this opportunity to express
gratitude to all those who helped in the successful completion of the project.

I pay my immense gratitude to PROF. V. K. GUPTA, for their sincere

cooperation and sparing time to answer questionnaires with their selfless efforts
and cooperation because of which I have been able to complete this project.

RAVINDRA SINGH BAGHEL (ST543553-1)

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SYNOPSIS

1. Title of the Project: - GSM Based Robot Arm Control

2. Objectives of the study: - The project here is all about a GSM Based Robot Arm

Control System with latest electronics technology & Microcontroller based Duel Tone

Multiple Frequency (DTMF). Most prominent are its ability to 'walk' around the exterior

of the station under its own control, hand-over-hand between pre-fixed base points and

its ability to perform many tasks automatically or semi-automatically.

3. Rationale for the study:-

a) Replacement of solar arrays

b) Inspection of the station

4. Detailed Methodology to be used for carrying out the study:-

The circuit basically comprises of two sections:

A) CONTROL SECTION: - Before anything else, phone line must be ceased on

first bell. This ceasing and generation of confirmation tone is done by "Control Section"

of circuit.

B) DECODING SECTION: - After ceasing of line, the numbers pressed on remote

phone's dial pad must be decoded so as to control correspondingly numbered

appliances. The numbers pressed on dial keypad of a phone are converted to DTMF

(dual tone multi frequency) format by telephone instrument.

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5. The expected contribution from the study:-

Working is easy and only appliance's connection to kit and kit's to phone

line is to be done just like plug 'n' play.

6. List of activities to be carried out to complete the project (with the help of a bar

chart showing the time schedule):-

Project guidance

Synopsis preparation

Component Collection

Study about the project

Requirement study of component

Testing and implementation

Final project report preparation

Bar Chart:
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12

10

8
NUMBER OF DAYS

DETAILS OF ACTIVITY
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7. Places/labs/equipment and tools required and planning of arrangements:-

a) PCB

b) Step down transformer

c) Voltage regulator

d) Rectifier diodes, transistors & electrolytic capacitors

e) Integrated circuits

f) LEDs & DC Motor

8. Problems envisaged in carrying out the project, if any:-

Nil

PREPARED BY GUIDED BY

RAVINDRA SINGH BAGHEL PROF. V.K. GUPTA FIE

Membership No. ST543553-1 Membership No. F-014105-O

Signature:____________________ Signature:____________________
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TITLE OF THE PROJECT: GSM Based Robot Arm Control

About GSM

GSM (Global System for Mobile communications) is an open, digital cellular

technology used for transmitting mobile voice and data services.GSM supports voice

calls and data transfer speeds of up to 9.6 kbps, together with the transmission of SMS

(Short Message Service). GSM operates in the 900MHz and 1.8GHz bands in Europe

and the 1.9GHz and 850MHz bands in the US. GSM services are also transmitted via

850MHz spectrum in Australia, Canada and many Latin American countries. The use of

harmonized spectrum across most of the globe, combined with GSM’s international

roaming capability, allows travelers to access the same mobile services at home and

abroad. GSM enables individuals to be reached via the same mobile number in up to

219 countries. Terrestrial GSM networks now cover more than 90% of the world’s

population. GSM satellite roaming has also extended service access to areas where

terrestrial coverage is not available.

Block Diagram GSM

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OBJECTIVES OF THE STUDY:

The project “GSM based Robot Arm Control” a crane is a lifting machine, generally

equipped with a winder (also called a wire rope drum), wire ropes or chains and

sheaves, that can be used both to lift and lower materials and to move them

horizontally. It uses one or more simple machines to create mechanical advantage and

thus move loads beyond the normal capability of a human. Cranes are commonly

employed in the transport industry for the loading and unloading of freight, in the

construction industry for the movement of materials and in the manufacturing industry

for the assembling of heavy equipment.

Before moving further, let us see few reasons why pick and place robots are preferred:

 They are faster and can get the work done in seconds compared to their human

counterpart.

 They are flexible and have the appropriate design.

 They are accurate.

 They increase the safety of the working environment and actually never get tired.
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METHODOLOGY OF THE STUDY:

FEASIBILITY STUDY:

A feasibility study is conducted to select the best system that meets

performance requirement.

The key consideration in feasibility analysis is:

 Technical Feasibility

 Operational Feasibility

 Behavioral Feasibility

 Economic Feasibility

TECHNICAL FEASIBILITY:

The Project GSM Based Robot Arm Control is very much feasible as the

technologies are totally within our limit and can be implemented within projects.

OPERATIONAL FEASIBILITY:

Under the operational feasibility the application of robot has a very fast and

accuracy. Assemble the component in production robot work is very fast pick and

place the component at the desired location in automobile manufacturing

industries.
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BEHAVIORAL FEASIBILITY:

The overall behavior for the project is satisfied. In future, the project will modify

as a GSM Calling Based Multi-tasking Robot Vehicle with password protection.

Then the vehicle owner will feel a relax mind. Our robot is controlled by a cell

phone, through this we can make our robot communicate on a large scale over a

large distance even from different cities.

ECONOMIC FEASIBILITY:

The project GSM Based Robot Arm Control is totally within budget of the group.

The cost of the project is estimated one the basis of the expenditure done during its

development. The total cost for developing the project lies within our level.

PROCEDURE FOR MAKING PROJECT:

Building project in the proper manner is really an art, something which must be

practiced and learned through trial and error, it is not all that difficult.

TOOLS: The electronics workbench is an actual place of work with comfortably &

conveniently & should be supplied with compliment of those tools must often use in

project building. Probably the most important device is a soldering tool. Other tool which

should be at the electronic work bench includes a pair of needle nose pliers, diagonal

wire cutter, a small knife, an assortment of screw driver, nut driver, few nuts & bolts,

electrical tape, pluckier etc. Diagonal wire cutter will be used to cut away any excess

lead length from copper side of P.C.B. 7 to cut section of the board after the circuit is

complete. The needle nose pliers are most often using to bend wire leads & wrap them

in order to form a strong mechanical connection.

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COMPONENT DESCRIPTION:

MICROCONTROLLER AT89C52:

The AT89C52 is a low-power, high-performance CMOS 8-bit microcomputer with 8K

bytes of Flash programmable and erasable read only memory (PEROM). The device is

manufactured using Atmel’s high-density nonvolatile memory technology and is

compatible with the industry-standard 80C51 and 80C52 instruction set and pin out. The

on-chip Flash allows the program memory to be reprogrammed in-system or by a

conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU

with Flash on a monolithic chip, the Atmel AT89C52 is a powerful microcomputer

which provides a highly-flexible and cost-effective solution to many embedded

control applications.
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PIN DIAGRAM & BLOCK DIAGRAM OF 89C52:

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ULN2003:

The ULN2003A is an array of seven NPN Darlington transistors capable of

500mA, 50V output. It features common-cathode fly back diodes for switching

inductive loads. In the same family are ULN2002A, ULN2004A, as well as

ULQ2003A and ULQ2004A, designed for different logic input levels.

A Darlington transistor (also known as Darlington pair) achieves very high current

amplification by connecting two bipolar transistors in direct DC coupling so the

current amplified by the first transistor is amplified further by the second one.

The resultant current gain is the product of those of the two component

transistors:

ßtotal ≈ ß1 • ß2

Typical usage of the ULN2003A is to drive relays, lamp and LED

displays or stepper motors, Logic buffers, Line drivers, Hammer driver.

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STATEMENT OF THE PROBLEM:

The objective of project planning is to provide a framework that enables the

developer to make reasonable estimate of resources, cost, and schedule.

PROJECT CATEGORY

While developing a project, it is very important to define the category of such

project. As for as this project is automatically operated machine that replaces human

effort, it may not look like a human being of function in a humanlike manner.

Advanced, high-performance robots are used today in automobile manufacturing

and aircraft assembly, and electronics firms use robotic devices together with other

computerized instruments to sort or test finished products.

REQUIREMENT ANALYSIS

ANALYSIS STUDY

System Analysis is a management technique, which helps us in designing a

new system or improving an existing system. Analysis study is presented in the

form of hardware component required in project and what is the specification of

these components and what’s a substitute component.

HARDWARE REQUIREMENTS:

a) PCB

b) Step down transformer

c) Voltage regulator

d) Rectifier diodes, transistors & electrolytic capacitors

e) Integrated circuits, LEDs & DC Motor

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INPUT DATA/STRUCTURE/QUESTIONNAIRE:
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CIRCUIT DIAGRAM
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WORKING PRINCIPLE:

An MT8870 series DTMF decoder is used here. All types of the MT8870 series use

digital counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit

code output. The built in dial tone rejection circuit eliminates the need for pre-filtering.

When the input signal given at pin2 (IN-) in single-ended input configuration is

recognized to be effective as shown fig below, the correct 4-bit decode signal of the

DTMF tone is transferred to Q1 (pin 11) through Q4 (pin 14) outputs D0 through D3

outputs of the DTMF decoder (IC1) are connected to port pins of Microcontroller.

The Robot based on DTMF (Dual Tone Multi Frequency) technique is implemented. The

DTMF Decoder circuit is made using M8870 Decoder IC. Just connect your cell phone

headset (headphone) jack to the mobile phone and then mobile control electrical

appliances and electrical equipment via DTMF key pad of your cell phone and this

concept is implemented in this Robot so that it can able to control any were in the world

were ever mobile network is available. Security system is implemented so authorized

users only able to access this Robot, each key has multiple function so many operation

can be performed in this robot. A 4 digit password is given and only when the user

enters the password, the robot can be accessed by user. DTMF have limited key to

operate the robot. As the robot requires more controls multiple key function concept is

implemented so that each key have 2 functions and over all 24 operations can be

performed.
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DTMF(MT8870) block diagram

Connection Diagram of MT8870

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DTMF Decoder

DTMF (Dual Tone Multi Frequency) decoder is a decoder circuit which detects the

telephone dial tone and decodes the key .A touch tone decoder IC, IC MT8870DE was

used for DTMF Signal detection and decodes the signal to 4 digital outputs. The M-8870

DTMF (Dual Tone Multi Frequency) decoder IC was used to determine the frequencies

of the limited tones. The DTMF communication is a one way communication which

consists of a touch tone initiator and a decoder, which decodes the input bits and

interfaces it to a computer for any further application. DTMF technology is used in

telephone switching centers to identify the dialed number. The decoder identifies the

DTMF tone and will generate the binary equivalent of the key pressed. The M-8870

DTMF decoder IC decodes the tone generated by the cell phone. The microphone pin

will directly tap the DTMF signals. The red wire of the microphone is DTMF input to the

circuit. The microphone wire signals are processed by the DTMF decoder IC and

generate binary equivalent sequence Q1, Q2, Q3, and Q4 as parallel sequence.

The M-8870 decoder IC contains an inbuilt operational amplifier. The signals from the

microphone pin are fed in to inverting input of the Op amp through a series of resistance

(100kΩ) and capacitance (0.1 μF). The non-inverting input of Op-amp is connected to a
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Reference voltage (pin4 -VREF) is connected to the non-inverting input of the Op-amp.

The output voltage is taken from the pin 3 (GS) .The reference voltage VREF is Vcc /2.

The feedback signal is fed in to the inverting input pin 2 through a resistor (270kΩ).

The output of Op Amp is passed through the filter network. The filter network contains

switched capacitors, which divides the DTMF tones into low and high frequency signals.

Filtered frequencies will pass through the frequency detector and code detector circuits

and a four digit binary code is latched at the output of M-8870 DTMF decoder IC.

DTMF generation is a composite audio signal 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.
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DTMF technology is used as the main principle for the communication between the 2

mobile cell phones.

The DTMF technique outputs distinct representation of 16 common alphanumeric

characters (0-9, A-D, *, #) on the telephone. The lowest frequency used is 697Hz and

the highest frequency used is 1633Hz.

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DTMF Keypad

In this unit, I have interfaced a GSM module with Microcontroller with programming in

such a way so that it will send a SMS to the caller. In this scheme RTS and CTS signals

of serial port interface of GSM Modem are connected with each other. The transmit

signal of serial port of microcontroller is connected with transmit signal (TxD) of the

serial interface of GSM Modem while receive signal of microcontroller serial port is

connected with receive signal (RxD) of serial interface of GSM Modem.

Motor driver circuit diagram

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Switching times

Motor driver working:

The Device is a high voltage, high current integrated four channel driver designed for

standard DTL or TTL logic levels and drive inductive loads and switching power

transistors. . A separate supply input is provided for the logic which allows operations at

lower voltages. The internal clamp diodes are enabled in the circuit and the device is

suitable for switching applications at frequencies less than 5 KHz. The L293D

assembled in a 16 lead plastic package has 4 center pins connected together while the

L293DD assembled in 20 lead surface mount has 8 center pins connected together and

both of them can be used for heat sinking.

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ANALYSIS/SOLUTION/DESCRIPTION:

The motion of the robot is controlled by controlling the direction of motors (forward,

reverse, right and left) this action is performed by using L293D IC. The speed of the

Robot is controlled by generating PWM from the ARM, and the camera can move right

and left by controlling the stepper motor. The Stair-climbing Robot will be controlled by

4 different ways:

 First, the robot is controlled trough serial joystick, it contain pushbuttons and

potentiometer. This Pushbuttons control movement of motor and potentiometers

control PWM.

 Second, the robot is controlled by interfacing climbing robot with PC using serial

port.

 Third, RF module is used to control the robot wireless.

 433.92 MHz RF Transmitter and Receiver is wireless data communication.

FINAL RESULTS:

The experimental testing of DTMF controlled mobile robot is designed to carry out in

three stages.

1) First stage: The first stage is testing output of DTMF decoder signal in comparison

with computer mat lab simulation. A robot with DTMF transceiver is programmed to

output a series DTMF characters.

2) Testing data transmission: Here user test the integrity of data transmission and it is

performed before the robot is operating in their test environment. The robot then goes
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through the testing algorithm where user sends and other receives each DTMF

character. This test is performed by keeping robot at different locations to test

robustness of signal transmission through air.

3) Third stage: finally testing is done directly on the designed climbing robot. The user

gives the DTMF characters and test weather corresponding action takes

Place as shown in below table:

characters 1 2 3 4
operation Turn_rgt Turn_lft Straight Stop

CONCLUSION:

GSM Based Robot Arm Control is multi-tasking feature, I have overcome the

drawbacks of RF communication which have a limited range whereas this car

can be controlled from anywhere just using this DTMF technology. The main

advantage of this robot is that it is password protected so that any other person

cannot communicate with the robot. It has various sensors and a LCD screen in

which the Humidity and Temperature of the place will be shown. Considering all

the situations, the robot integrated with different sub modules can be used for

redemption and security purpose. Typical applications of robots include welding,

painting, ironing, assembly, pick and place, packaging and palletizing, product

inspection, and testing, all accomplished with high endurance, speed, and

precision. Flexibility is provided in a way that one can connect less number of

appliances in starting for testing and later on expand the circuitry as per
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requirement. I have put in my best effort in making this project and I am confident

that my project improves the productivity.

SCOPE OF FUTURE STUDY:

After modification, this robot will be used in following applications:

A. Military use:

Military usage of remotely controlled military vehicles dates back the first half of

20th century. This can be a great asset to save lives of both people along with soldiers

in case of terrorist attacks like the one happened in 26 Nov, 2008 in Mumbai, India.

B. Search and Rescue:

Unmanned Aerial Vehicles (UAVs) will likely play an increased role in search and

rescue in the United States. Slowly other European countries (even some developing

nations) are thinking about making use of these vehicles in case of natural calamities &

emergencies.

---------------- END OF REPORT ---------------

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BIBLIOGRAPHY

 https://en.wikipedia.org

 https://www.google.co.in

 http://www.gsma.com

 http://www.alldatasheet.com

 http://www.etsi.org

 Mohammed M. Ali, “GPRS-Based Remote Sensing and Tele-operation Of A

Mobile Robot”,

 Kenneth J. Ayala the 8051 Microcontroller

 Lian, S.H., “Fuzzy Logic Control of an Obstacle Avoidance Robot”