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Cellphone Operated Robotic Arm
Cellphone Operated Robotic Arm
Prepared by:
Anurag Gupta (U05EC401) Dhrumeel Bakshi (U05EC326) Dileep Dhakal (U05EC388) Jaidatt Sharma (U05EC338) Kankan Ghosh (U05EC340)
Guided by:
1. INTRODUCTION
Aim of the project is to use a mobile phone to control a robotic arm mounted on a land rover. Provides robust control, large working range and upto 12 controls. Control of robot involves 3 different phases:1. Perception 2. Processing 3. Action
1. PRECEPTION
First part is the decoding of DTMF tone generated by pressing a key in calling phone. Audio signal output from receiving phone is fed to DTMF decoder chip. Decoder chip converts DTMF tone into binary codes to be fed to microcontroller. CM8870 IC used as DTMF decoder in our project
2. PROCESSING
After preception stage, microcontroller processes the binary codes it receives. Microcontroller is pre-programmed in C to perform specific task according to input bits. Atmels ATmega16 is used for processing. Program is written using AVR Studio and uploaded using SuperPro.
3. ACTION
Final stage is rotation of motors based on input given by the microcontroller. Two DC motors of 30 rpm are used for the land rover and three servo motors of Futaba S3003 are used for robotic arm DC motors are driven by motor driver IC L293D. Servo motors are driven by PWM generated by the microcontroller.
Signals generated by the superposition of two pure sinusoidal tones. Commonly used for telephone signalling over the line in the voice-frequency band, to the call switching center.
DTMF represents
Grouping of Frequencies
Tone frequencies, are defined by the Precise Tone Plan. Harmonics and intermodulation products will not cause an unreliable signal No frequency is a multiple of another. No frequency is the sum or difference of 2 other frequencies.
Communication Overview
CM8870
CM8870 is a very commonly used chip for DTMF decoding. It is a state of the art single chip DTMF receiver incorporating switched capacitor filter technology and an advanced digital counting/averaging algorithm for period measurement.
12 DTMF tones are available to us (using a common touch-tone phone). Number of functions may be extended to 144 by programming the microcontroller to accept two codes instead of one. Two key presses will be required from the control mobile phone.
Working range is as large as the coverage area. Problems due to Harmonics and their interference are eliminated. Only one tone per group is allowed. This eliminates reception of erroneous codes. DTMF tones if received from external sources, are neglected by amplitude comparison of the two tones. Simple usage, and short numeric codes for control.
3. ATMEGA16 MICROCONTROLLER
Widely used. Easily available. Cost effective. Speed of execution of instructions. Flexible instruction set. Vast documentation. Easily available support and development tools.
WinAVR, AVR Studio, AVRTools, AVRDude, AVR Dragon, SuperPro (by Xeltek) etc. Development kits are cheap and easily available.
White - control signal, red - power (usually 4.8 V to 6 V), black - ground. The control circuitry inside the servo must receive a stream of pulses whose widths may vary between about 1 and 2 ms. A potentiometer coupled to the rotation of the output shaft produces a voltage corresponding to the angle of the shaft. The control circuitry compares the average voltage of the control signal with the voltage from the potentiometer, and the shaft rotates until the two voltages are the same.
Timers Timer/Counter 0 8 bit Timer/Counter 1 16 bit Timer/Counter 2 8 bit Pulse generation and variation
TIMER REGISTERS
TCNTn : Timer/counter register OCRn: Output Compare Register TIFR : Timer Interrupt Flag register TIMSK : Timer Interrupt Mask register ICR1 : Input Capture register
MODES OF OPERATION
Normal Mode: Simplest mode. Count sequence always up. Clear Timer on Compare Match (CTC) Mode
Phase Correct PWM Mode Dual slope operation. Output compare set in one direction, cleared in other.
Fast PWM Mode Single slope operation Easy to code. Maximum frequency twice as high as Phase correct PWM mode.
CONTROL WORD FORMATS AND REGISTER VALUES FOR FAST PWM MODE
Bit 7 FOC0: Force Output Compare Bit 6, 3 WGM01:0: Waveform Generation Mode Bit 5:4 COM01:0: Compare Match Output Mode Bit 2:0 CS02:0: Clock Select
Advantages:
o o o
Higher resolution 2 PWM channels OC1A, OC1B TOP value can be set using ICR1
Microcontroller output is not sufficient to drive DC motors so L293D is used. L293D comes in 16-pin DIP. It can provide currents upto 600mA at voltages from 4.5V to 36V. It can be used to drive inductive loads such as relays, solenoids etc and bipolar stepper motors. In the project it is used for simultaneous bi-directional control of two DC motors.
DC MOTOR CONTROL
AVR Studio for programming the Atmega16 microcontroller and generating the HEX files. SuperPro USB Series for burning the internal flash memory of ATmega 16 using SuperPro 280U hardware. Proteus ISIS for designing and simulating the circuit. Circuit layout generation using Proteus Ares.
Program can be written in both C and assembly language. Flags, Timers, Ports and Register bank can be observed directly. Hex files can be generated. Easy debugging and troubleshooting.
CIRCUIT SIMULATION
Cost and time saving. Signal generation and observation Circuit Optimization for the best performance. Program codes can be tested in the virtual microcontroller. Simulation result is an ideal performance parameters. Fault detection and correction. Hex files generated by AVR can be virtually tested in the Proteus ISIS simulator.
PROTEUS-ISIS FEATURES
Supports large number of Microcontroller Units (MCUs) including ATmega 16. Generating the proper signals for motor controller. Huge gallery of circuit components. Electromechanical components like Servo and DC motors can be simulated. Circuit can be transformed to design a Layout in Proteus Ares software. Hex file can be loaded directly to the MCU and observe the result. Logic analyzer facility.
Auto routing and placing facility of optimization of the circuit. Custom design facility for implementation of any type of IC (both QFP or DIP package). Circuit designed in Proteus ISIS can be directly transformed to PCB layout design. 3D visualization facility for multi-axis design optimization.
Thank you!