A SMART VOICE CONTROLLED PICK AND PLACE ROBOT

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 09 Issue: 05 | May 2022 www.irjet.net p-ISSN: 2395-0072
© 2022, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 1365
A SMART VOICE CONTROLLED PICK AND PLACE ROBOT
SANDHYA V P1, JOVAL BEROY.J2, KANNAN.P3,LENIN ADITHYA.A4, PARTHASARATHY.R5
Assistant Professor, Department of ECE, SRM Valliammai Engineering College, Tamilnadu, India
2,3,4,5 UG Students, Department of ECE, SRM Valliammai Engineering College, Tamilnadu, India
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Abstract – The robotic arm is intended for educational
purposes. In this project we are designing the robotic arm
for improved accuracy by using servos to power the joints in
the robotic arm.We make a Mobile Application Robot. As the
robot having the most stable configuration used for various
application like welding, pick and place, etc. We are moving
the 3-axis complete Structure by using the wheels and dc
motor and controlling the complete Mobile Application
Robot with the help of which give instructions to the
Microcontroller and then the micro-controller give
instruction to the actuators (motor).When the servomotor is
actuated it drives the pinion in the same direction of
rotation.
Key Words: Mobile Application Robot, pick and place
1.INTRODUCTION
Pick and place robot arms are widely employed in
industries. Example, in mechanical sites and companies
where they assist to choose and place components within
the desired location. Here, during this work, a mobile
robot which might pick and place objects through voice
commands is developed for a wheelchair bound person.
The person could get help from this fully automated
mobile robot for choosing and placing the objects within
the desired location. This mobile robot can reach up to a
little cupboard for selecting the object or things.. The robot
is fully controlled through human voice commands, like
left, right, straight and plenty of more to point the
direction for the robot to navigate around. Thus, this robot
would help the disabled to hold out their daily activities
without much difficulty.
2. LITERATURE SURVEY
This proposed system was finalized after checking out
various references given and the implementations with
methodologies was also discussed. Past ten years of
reference papers was used for it.
The detailed report on these references are given below,
1. Sotiris Stavridis, Pietro Falco, Zoe Doulgeri, ”Pick-and-
place in dynamic environments with a mobile dual-arm
robot equipped with distributed distance sensors”, Mobile
bimanual manipulation in an exceedingly dynamic and
unsure environment requires the continual and fast
adjustment of the robot motion for the satisfaction of the
constraints imposed by the task, the robot itself, and also
the environment. We formulate the pick-and-place task as
a sequence of mobile manipulation tasks with a mix of
relative, global and native targets.
2.Hae-Chang Kim, In-Hwan Yoon, Jae-Bok Song, ”Target
Position Estimation for Pick-and-Place Tasks using a
Mobile Manipulator“, A mobile manipulator uses marker
detection and hand-eye calibration to catch up on the
performance limitation of position estimation during pick-
and-place tasks. However, whether these methods are
applied or not, a mistake occurs proper to the limitation of
camera calibration, so it's tough to locate the object within
the correct position.
3. Muhammad Affan, Syed Umaid Ahmed, Riaz Uddin,
“Pick-and-Place Task using Wheeled Mobile Manipulator”,
A Control Design Perspective, This paper is aimed at
students and roboticists to produce the concise theoretical
and applied knowledge necessary for the control design of
mobile manipulators. For this purpose, topics like
kinematics, motion planning, and control theory are
explored. Moreover, this information is integrated from
the attitude of the Mecanum wheeled 5-R mobile
manipulator for the pick-and-place task of the cube.
4. Fengyi Wang, J.Rogelio Guadarrama Olvera, “Optimal
Order Pick-and-Place of Objects in Cluttered Scene by a
Mobile Manipulator", In this paper, we present a quick
method for autonomously plane manipulation tasks for
mobile manipulators. An optimal order is defined by the
planner to perform and the objects are taken from pick
and place operations from a cluttered scene to specific
deposit areas considering both, manipulator and mobile
base motion. The grasping feasibility of the objects was
examined by the first method with an inverse reachability
map.
5. K.N.V. Sriram, Suja Palaniswamy, “Mobile Robot
Assistance for Disabled and Senior Citizens Using Hand
Gestures”, Numbness and movability impairments impact
the autonomy of elder people while performing their
independent tasks. Gesture role acts as a bridge between
humans ad machines. This work focuses on Human-Robot
Interaction (HRI), designed for the assistance of
wheelchair-bound people with the assistance of mobile
robots.

3.PROPOSED WORK
A wireless mobile robotic arm was developed to connect
devices for transfer of data over a long distance wireless.
Wireless controller was used that interfaced with Arduino
UNO. The robot was successfully controlled by wireless
controller by developing the hardware and software of
mobile robotic arm with the pick and place system
operation. The servo motors are connected to the Arduino
UNO I/O ports while the DC motors is connected through
a motor controller to control the speed of the DC motor.
4. SYSTEM ARCHITECTURE
With the help of HCO5 receiver the input signal from the
mobile is received. The UART is used for serial
communication which sends the voice command from
HCO5 to arduino. The arduino analyses the given input
command and sends out the appropriate command to the
output devices. Incase of movement commands, it sends
out the command to the servo motors and thus does the
movement actions. Incase of pick and place command, it
sends out the required command to the pick and place arm
and does the required action.
HARDWARE AND SOFTWARE COMPONENTS
Arduino uno: It has 20 digital input/output pins.Analog
inputs of count six, a crystal oscillator of value 16MHz, a
power jack, an USB connection, an ICSP header, and a reset
button. Microcontroller ATmega328 microcontroller
operated at an operating voltage of 5V.
The recommmended input voltage is about 7 - 12V and the
limits of the Input voltage is around 6 - 12 V. The digital
input-output pins are at a count of 14 in which six of them
would provide 6 PWM output. There are six analog input
pins. The DC Current per input-output pin is 40mA and the
DC Current for 3.3V Pin is 50Ma. 32 KB of which 0.5 KB
used by bootload, the flash memory is utilised.
Arduino uno and its programming: Arduino may be a tool
for creating computers that may sense and manage
additional of the physical world than your personal
computer. It's AN ASCII text file. The physical computing
platform is supported by a simple microcontroller board
and a development setting for writing computer code for
the board. Arduino is to develop interactive objects, taking
inputs from a spread of switches or sensors, and a
dominant spread of lights, motors, and different physical
outputs. Arduino will be communicating with computer
code running on your pc. The boards are assembled by
hand or purchased preassembled; the ASCII text file IDE is
downloaded for complimentary. The Arduino artificial
language is AN implementation of Wiring, an analogous
physical computing platform, that relies on the process
transmission programming setting.
Servo Motor : A servomotor (or servo motor) could be a
(mechanism|positioner|actuator) or linear actuator that
permits for precise management of angular or linear
position, speed, and acceleration. It consists of an
acceptable motor coupled to a detector for position
feedback. It conjointly needs a comparatively refined
controller, typically a fanatical module designed
specifically to be used with servomotors. Servomotors
aren't a selected category of motor, though the term
servomotor is commonly used. A motor appropriate to be
used during a closed-loop system.

HCO5 Bluetooth module: HC-05 Bluetooth Module is
explicit to use Bluetooth SPP (Serial Port Protocol)
module, that is designed for a transparent wireless serial
association setup. Its communication is via serial
communication which makes a simple way to the interface
with the controller or laptop. It uses a 2.45GHz wave band.
The transfer rate of the info will vary up to 1Mbps and is in
the vary of ten meters. The HC-05 module is operated at
intervals of 4-6V of power offered.
Motor Drive: Motor drivers act as associate degree
interfaces between the motors and the control circuits.
Motor needs a high quantity of current whereas the
controller circuit works on low current signals. therefore
the process of motor drivers is to take a low-current
control signal and then flip it into a higher-current signal
which will drive a motor. The motor driver receives
signals from the silicon chip microcontroller and
eventually, it transmits the reborn signal to the motors. it's
2 voltage pins (VCC1 and VCC2), and one among them is
employed to show on the motor driver, and another pin is
employed to use the voltage to the motor through this
motor IC. This motor IC can ceaselessly toggle the output
per the input wave it's receiving from the silicon chip
microcontroller.
The small IC transmits the signal it receives, however it'll
not modify the quality of the signal. as an example, if the
silicon chip microcontroller sends a high input (1) to the
motive force Ic then, driver Ic can pass a similar High (1)
although it's an associate degree output pin. The H-bridge
circuit will seem like this within the image below. Four
switches can type an ''H'' form and these four switches are
accustomed enable/disabling the supply.
Rotate in clock-wise direction: Now, within the 1st
condition, when S1 and S4 switches are closed, and S3 and
S2 are open, the voltage can pass from the S1 switch to the
The motor then to the S4. thus we've got an entire circuit
that may permit current to drip through V to M through S1
and S4. This state is going to be a brief circuit in S1 and S4
switch conditions. during this case, the Motor is going to
be in ON, and therefore the direction of the Motor is going
to be in a clockwise rotation.
Rotate in counter-clockwise direction: Coming to a
consecutive state, after we enable S3 and S2 by giving
voltage input, then the S1 and S4 switches will shut, and
therefore the voltage travels from S3 and S2. this is also a
definite connection by stimulating 2 parallel-connected
switches, however, the rotation of the Motor is going to be
in a counter-clockwise direction.
Embedded C : Embedded C Programming is the soul of the
processor functioning within each embedded system we
tend to come upon in our stages of living, like mobile
phones, washing machines, and photographic cameras.
every processor is related to an associate degree
embedded computer software. The primary and foremost
factor is the embedded computer code that decides to
function in the embedded system. Embedded C language is
most often accustomed to programming the
microcontroller.
Looking around, we discover ourselves to be surrounded
by varied varieties of embedded systems. Be it a
photographic camera or a mobile phone or a washing
machine, all of them have some type of processor
functioning within them. correlated with every processor
is the embedded computer software.
If hardware forms the body of an embedded system, the
embedded processor acts because the brain and
embedded computer software form its soul. it's the
embedded computer code that primarily governs the
functioning of embedded systems. During the infancy
years of silicon chips primarily based systems, programs
were developed assemblers and laced in the EPROMs.
There accustomed be no mechanism to find what the

program was doing. The correct execution of the program
was used to check using switches and leds.
Arduino IDE : The Arduino Integrated Development
Environment - or Arduino Software(IDE) - contains a text
editor for writing code, a message space, a text console, a
toolbar with buttons for common functions and a series of
menus. Arduino hardware gets connected to communicate
with them by transferring programs. it's an official
Arduino Software, creating code compilation too simple
that even a typical person with no previous technical
knowledge can get their feet wet with the learning
procedure. every one of them contains a microcontroller
on the board that's programmed and accepts the data
within the type of code. Sketch is often referred as the
main code of the program, Hex File is generated and
created by the platform of IDE that is then transferred and
uploaded within the board of the controller. The IDE
surroundings principally contain 2 basic parts: Editor and
Compiler wherever the former is employed for writing the
required code and later is employed for compiling and
uploading the code into the given Arduino Module.
RESULT
The above given figure shows a smart voice controlled
pick and place robot which was build or assembled using
arduino uno, HCO5 bluetooth module and fitted within a
robotic arm for purpose of pick and place. It also shows a
four wheel drive chasis whose speed is controlled using
the motor drive.
CONCLUSION AND FUTURE ENHANCEMENTS
Arduino UNO Atmega 328 has been used and implemented
to design this course.
Thus we found that our project has the ability to reach at
the location from where object needs to be picked or
placed, by the virtue of four wheel drive chassis and four
servo motors.
Thereafter the robotic manipulator locates and lifts the
required object in accordance with the motion of servos.
Thus it is an integration of automation and locomotion.
In future this robot can be expanded to operate in various
other fields and can be executed in a large scale. During
crisis period these controlled robot can be used to diffuse
bombs and further used in evacuation process. It can also
be used in hospitals during pandemic period by which
contactless communication between human beings is
possible. Further, this robot can be used in industries for
the purpose of packaging, pick and place and many more.
REFERENCES
[1] Lens. Thomas., Kunz. Jurgen, and Stryk. Oskar Von.,
“BioRob-Arm: A Quickly Deployable and Intrinsically Safe,
Light-Weight Robot Arm for Service Robotics
Applications,” 41st International Symposium on Robotics.
Germany, pp. 905-910, June 2010.
[2] Ghorabi. Hasan, Maddahi. Yaser., Monsef. Seyyed
Mohammad Hosseini., and Maddahi, Ali., “Design and
Experimental Tests of a Pick and Place Robot: Theoretical
and Experimental Approaches,” 9th WSEAS international
Conferences on Application of Electrical Engineering.
Penang, Malaysia, pp. 144-150, March 2010.
[3] Chung, Mike., Rombokas, Eric., An, Qi., Matsuoka, Yoky.,
and Bilmes, Jeff. “Continuous Vocalization Control Of A
Full-Scale Assistive Robot,” IEEE International Conference
on Biomedical Robotics and Biomechatronics. Rome, Italy,
pp. 1464-1469, June 2012.
[4] Akan, Batu., Ameri, Afshin., Cruklu, Baran., and
Asplund, Lars. “Intuitive Industrial Robot Programming
Through Incremental Multimodal Language and
Augmented Reality,” IEEE International Conference on
Robotics and Automation. Shanghai, China, pp. 3934-
3939, May 2011.
[5] Yusoff Kamaril Mohd Ashiq, Samin Reza Ezuan, and
Ibrahim Babul Salam Kader. “Wireless Mobile Robotic
Arm,” International Symposium on Robotics and
Intelligent Sensors, pp. 1072 – 1078, 2012

A SMART VOICE CONTROLLED PICK AND PLACE ROBOT

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