MOBILE CONTROLLED

ROBOTIC ARM

SYNOPSIS REPORT SUBMITTED BY:

ABHISHEK SRIVASTAV
AJAY SINGH
ASHISH RAI

NAVEEN DWIVEDI
SAURABH S. KASHYAP

Acknowledgement
We would like to give our sincere thanks to the people who are
directly or indirectly attached in completion of our project MOBILE
CONTROLED ROBOTIC ARM during the academic year 2009-2010.

We express our deep obligation to Mr. MALIK RAFI, H.O.D. of

ELECTRICAL

ENGINEERING

for

his

kind

initiation,

invaluable

guidance and keen interest throughout the project work, and

preparation of this report.
We

are

Engineering

also

grateful

to

Mr.

FAHEEMULLAH

Electrical

Department for his worthy help in progressing the

work.
Last but not least we wish to express our sincere thanks to all
our professors, friends and colleagues who helped us directly or
indirectly in the completion of this project.

PART LIST

SEMICONDUCTORS:
IC1

- MT8870 DTMF Decoder

IC2 - ATmega16 AVR microcontroller

IC3

- L293D motor driver

IC4

- 74LS04 NOT gate

D1

- 1N4007 rectifier diode

- Stepper motor

RESISTORS (all -watt, 5% carbon):

R1, R2 100-KILO- OHM
R3

- 330-KILO-OHM

R4-R8

- 10-KILO-OHM

CAPACITORS:
C1- 0.47F ceramic disk
C2, C3, C5, C6
C

- 22pF ceramic disk

- 0.1f ceramic disk

MISCELLANEOUS:
XTAL1

- 3.57MHz crystal

XTAL2

- 12MHz crystal

S1

- push-to-on switch

M1, M2

- 6V, 50-rpm geared stepper motor

Battery 6V, 4.5Ah battery

Project Overview

In this project, the robot is controlled by a mobile phone

attached to the robot. In the course of a cell, 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 multiplefrequency (DTMF) tone. The robot perceives this DTMF tone with
the help of the phone stacked in the robot
The received tone is processed by the AT mega 16 micro
controller with the help of DTMF decoder MT8870. The decoder
decodes the DTMF tone into its equivalent binary digit and this
binary number is sent to the micro controller. The micro controller is
preprogrammed to take a decision for any given input and outputs
its decision to motor drivers in order to motor driver for forward or a
turn.

The mobile that makes a call to the mobile phone stacked in the
robot acts as a remote. So this simple robotic project does not
require the construction of receiver and transmitter units.
DTMF signaling is used for telephone signaling over the line in
the voice-frequency band to the call switching center. The version of
DTMF used for telephone tone dialing is known as touch-tone.

DTMF assigns a specific frequency to each key so that it can

easily be identified by the electronic circuit. The signal gendered by
the DTMF encoder is a direct algebraic summation, in real time, of
the amplitudes of two sine waves of different frequencies, i.e.,
pressing 5 will sent a tone made by adding 1336 Hz and 770Hz to
the other end of the line. The tones and assignments in a DTMF
system are shown in table.

TONES AND ASSIGNMENTS IN A

DTMF SYSTEM:
Frequenci
es

1209 Hz

1336 Hz

1477 Hz

1633 Hz

697 Hz

770 Hz

852 Hz

941 Hz

CIRCUIT DESCRIPTION:
The block diagram of the microcontroller-based mobile phoneoperated land rover. The important components of this rover are a
DTMF decoder, microcontroller and motor driver.
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 single given at pin 2 (IN-) in single-ended input configuration
is recognized to be effective, the correct 4-bit decode single of the
DTMF tone is transferred to Q1 (pin 11) through Q4 (pin 14) outputs.

The DTMF data output table of MT8870. Q1 through Q4 outputs

of the DTMF de3coder (IC!) are connected to port pins pa0 through
pa3 of ATmega16 microcontroller (IC2) after inversion by N1 through
n4, respectively.
The ATmega16 is a low-power 8-bit, CMOS microcontroller
based on the AVR enhanced RISC architecture. It provides the
following features:16 kB of in-system programmable flash program memory with
read-while-write capabilities, 512 bytes of EEPROM, 1kB SRAM, 32
general purpose input/output (I/O) lines and 32 general purpose
working registers. All the 32 resisters are directly connected to the
arithmetic logic unit, allowing two independent registers to be
executed in one clock CYCLE. THE RESULTING ARCHITECTURE IS
MORE CODE-EFFICIENT.
OUTPUTS FROM PORT PINS pd0 THROUGH pd3 AND pd7 OF
THE MICROCONTROLLER ARE FED TO INPUTS in1 THROUGH in4 AND
ENABLE PINS (en1 AND en2) OF MOTOR DRIVER L293d,
RESPECTIVELY, TO MOTOR DRIVER L293D, to drive two geared DC
motors. Switch S1 is used for manual reset. The microcontroller
output is not sufficient to drive the DC motors, so current drivers
are required for motor rotation.

DTMF DATA OUTPUT

TABLE II:
Low
group

High
group

(Hz)

Digit

OE

D3

D2

D1

D0

(Hz)

697

1209

697

1336

697

1477

770

1209

770

1336

770

1477

852

1209

852

1336

852

1477

941

1336

941

1209

941

1477

697

1633

770

1633

OPERATION AND CONLLTROLLING

UNIT
Micro controller based stepper motor control kit is used for
many power electronics and electrical applications. There are four
types of function in this kit: Left
Right
Stop
Speed ( for rpm)

STEPPER MOTOR:
There are many types of stepper motor by the help of this kit
we can control 02 phase UNI-POLAR P.M. (Permanent Magnet) type
motor. The main advantage of this kit is fully micro controlled based
so easy to understand, very few components are required, and
circuit become compact. It is to control a turn position correctly like

the drive motor of the printer & so on. The circuit this time
controlled the number of rotation of the motor by charging of the
capacitor but can control a turn angle in the drive motor of times
(the steps) if remodeling program.

TECHNICAL SPECIFICATION:
Working Voltage

: - 06 V to 12 V

Operating Current

: - 100 MA (Without Motor)

Kind Of Motor

: - 02 Phase Uni Polar PM Type

Drive Voltage

: - 12 V dc

Coil Current

: - 01 Amp (02 Coil)

Step Angel

: - 7.5 Degrees (360 D/48)

The Most Low Speed

: - 27 RPM

The Full Speed

: - 128 RPM

WHAT IS STEPPER MOTOR

A stepper motor is a type of motor that converts electrical
energy to mechanical energy via the principles of electromagnetism
and it is also known as steppers, such motors were used as early as
the 1920s. Their use has skyrocketed with the popularity of
embedded
windshield
cameras.

systems,
wipers,

including

vibrating

printers,

pagers,

robotic

disk

drives,

arms,

and

toys,
video

Stepper Motor
Whenever something is required to move from one position to
another (whether the application is industrial, military, medical,
automotive, or entertainment), you can bet that a step motor is the
driving force. Step motors come in many shapes and sizes, but most
fall into one of two categories: the variable reluctance stepper or
the permanent magnet stepper. This article focuses on the simpler
and more popular permanent magnet stepper.

FURTHER APPLICATION
This land rover can be further improved to serve specific
purpose. It requires four controls to roam around. The remaining
eight controls can be configured to serve other purposes, with some
modification in the source program of the microcontroller.