MOBILE BASED ROBOTIC ARM

ABSTRACT
Robotic manipulators are widely used to replace human operators in tasks
that are repetitive in nature. However, there are many tasks that are non-repetitive,
unpredictable, or hazardous to the human operators. Clearing up a nuclear power plant
leak or exploring the extreme depths of ocean are just some examples. The most
developed robot in practical use today is the robotic arm and it is seen in applications
throughout the world. Robotic arms are used to carry out work in outer space where man
can not survive and also used to do work in the medical field such as conducting
experiments without exposing the researcher.
In early days, robotic manipulators have been implemented in different
control techniques like mechanical control and the remote control or tele-opertation. But
with the advent of high performance device like GSM, a new way of control called
virtual control has been implemented which is introduced in this project. The remote
control of physical systems by humans through the GSM is called as mobile controlled
robot.
In order to successfully execute a given task, control software is necessary
that sends and tracks appropriate orders to the robot arm. This project presents the design
principles of a general software framework capable to control any real time robot arm
without any set of feedback devices. A possible implementation of such a general
framework is provided together with experimental arrangement at a minimal economy.

BLOCKDIAGRAM

DTMF
DECODER
HT9170B

ULN
2003
A
T
8
9
S
5
2

GSM
MOBILE

ULN
2003

RELAY

ANGEL
MOTER

ULN
2003

RELAY

CLIP
MOTOR

ULN
2003

RELAY

SHAFT
MOTER

ULN
2003

RELAY

BASE
MOTER

RELAY

LEFT
MOTER

RELAY

RIGHT
MOTER

HARDWARE:
1. 89S52 MICROCONTROLLER.
2. DPDT RELAY.
3. DC MOTOR
4. ULN 2003.
5. DTMF DECODER HT9170B
6. HELICAL GEAR MOTOR.
7. MECHANICAL EQUIP MENT.
8. SPDT RELAY.

SIMULATION:
TOOL:

KEIL MICROVISION

PLATFORM: WINDOWS
LANGUAGE: EMBEDDED C