ARDUINO BASED VOICE CONTROLLED ROBOT

J. ALEKHYA (21RS1A0428)
JOSHUA JOHN VICTOR.M (21RS1A0429)
G. PAVANI (21RS1A0426)
B. YESUMANI (21RS1A0408)
M.SRI VINDHYA (21RS1A0444)
A. SRUTHI LAXMI (21RS1A0404)
G. SAHITH (21RS1A0422)

Department of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad

University College of Engineering Rajanna Sircilla
Agraharam, Rajanna Sircilla Dist. – 505 302, Telangana
2025

ARDUINO BASED VOICE CONTROLLED ROBOT

MINI PROJECT REPORT
 SUBMITTED IN PARTIAL FULFILLMENT OF THE
REQUIREMENTS FOR THE DEGREE OF
BACHELOR OF TECHNOLOGY

IN

ELECTRONICS AND COMMUNICATION ENGINEERING

BY
J. ALEKHYA (21RS1A0428)
JOSHUA JOHN VICTOR.M(21RS1A0429)
G. PAVANI (21RS1A0426)
B. YESUMANI (21RS1A0408)
M.SRI VINDHYA (21RS1A0444)
A. SRUTHI LAXMI (21RS1A0404)
G. SAHITH (21RS1A0422)

Department of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad

University College of Engineering Rajanna Sircilla
Agraharam, Rajanna Sircilla Dist. – 505 302, Telangana
2025
 Jawaharlal Nehru Technological University Hyderabad
University College of Engineering Rajanna Sircilla
Agraharam, Rajanna Sircilla Dist. – 505 302, Telangana

Department of Electronics and Communication Engineering

CERTIFICATE

Date: /01/2025
This is to certify that the project work entitled ARDUINO BASED VOICE
CONTROLLED ROBOT is a Bonafide work carried out by J.ALEKHYA,JOSHUA
JOHNVICTOR.M ,G.PAVANI, B.YESUMANI, M.SRI VINDHYA, A.SRUTHI LAXMI,
and G.SAHITH bearing Roll Nos. 21RS1A0428, 21RS5A0429, 21RS1A0426,
21RS1A0408, 21RS1A0444, 21RS1A0404 and 21RS1A04522 in partial fulfillment of the
requirements for the degree of BACHELOR OF TECHNOLOGY in ELECTRONICS &
COMMUNICATION ENGINEERING by the Jawaharlal Nehru Technological
University Hyderabad during the academic year 2024-25.

The results embodied in this report have not been submitted to any other University or
Institution for the award of any degree or diploma.

---------------------- ---------------------- ------------------------

Dr. Dhiraj Sunehra Mr. B. Ravi Kumar Dr. Dhiraj Sunehra
Professor Assistant Prof. (C) Professor
Project Guide Project Coordinator Head of the Department I/c.

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 Acknowledgements

The success in this project would not have been possible without timely help and guidance

by many people. We wish to express our sincere gratitude to all those who have helped and

guided us for the completion of the project.

It is our pleasure to thank to our Project Guide Dr. Dhiraj Sunehra, Professor,

Department of ECE, and Project Coordinator Mr. B. Ravi Kumar, Assistant Professor

(C), Department of ECE for their guidance and suggestions throughout the project,

without which we would not have been able to complete this project successfully.

We wish to express our sincere gratitude to Prof. T. Venugopal, Principal, JNTUH UCER,

for his encouragement and providing facilities to accomplish our project successfully.

We would like to thank our classmates, all faculty members and non-teaching staff of ECE

Department, JNTUH UCER for their direct and indirect help during the project work.

Finally, we wish to thank our family members and our friends for their interest and

assistance that has enabled to complete the project work successfully.

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 ABSTRACT

This paper presents the design and implementation of an Arduino-based voice controlled
robot, showing the potential of integrating speech recognition with microcontroller
technology. The robot responds to voice commands to perform a range of tasks, from simple
movements to complex actions. The system combines a microphone, a speech recognition
module, and various sensors and actuators, enabling the robot to interpret and act upon
spoken instructions. This robot exemplifies the seamless fusion of hardware and software
to create a playful companion.

This project demonstrates the capabilities of Arduino in creating interactive, user-friendly

robotic systems that can be used in numerous applications, from education to home
automation. This robot operates by using a microphone to capture voice commands, which
are processed by a speech recognition module. The recognized commands are sent to the
Arduino by the Bluetooth which interprets them and sends signals to the motor drivers. The
motor drivers then control the robot's movements, such as moving forward, turning, or
performing specific actions. The results highlight the effectiveness of Arduino-based
systems in the development of responsive, intelligent robotics, paving the way for further
advancements in the field of automated control and interactive technology.

Engaging in this mini project provides participants with valuable hands-on experience in
both hardware assembly and software programming. It serves as a practical introduction to
the field of robotics, deepening their understanding of the key components required to
develop autonomous vehicles. This Arduino based voice-controlled project offers an
interactive and educational journey into fundamental robotics principles, demonstrating
significant concepts through a compact yet effective implementation.

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CONTENTS
Certificate i
Acknowledgements ii
Abstract Error! Bookmark not defined.
Contents iv
List of Figures vii

Certificate i

Acknowledgements ii

Abstract iii

Contents iv

List of Figures vi

List of Tables vii

Chapter 1 Introduction 1

1.1 Introduction 1

1.2 Aim of the Project 1

1.3 Methodology 1

1.4 Significance of the work 2

1.5 Organization of the thesis 2

Chapter 2 Overview of Arduino Uno 4

2.1 Introduction 4

2.2 Types of Arduino 5

2.3 Arduino Uno 6

2.3.1 Features of Arduino Uno 7

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 2.3.2 Description of Arduino Uno 7
2.4 Pin Description of Arduino Uno 8
2.5 Conclusions 9
Chapter 3 Hardware Description 10
3.1 Introduction 10
3.2 Block Diagram 10
3.3 RPS Board 11
3.3.1 Features 11
3.3.2 Description 12
3.3.3 Interfacing of RPS Board to Arduino 12
3.4 HC-05 Bluetooth Module 13
3.4.1 Features 14
3.4.2 Description 14
3.4.3 Pin Configuration 15
3.4.4 Interfacing of HC-05 to Arduino 16
3.5 Ultrasonic sensor 17
3.5.1 Features 17
3.5.2 Description 17
3.5.3 Pin Configuration 18
3.5.4 Interfacing of Ultrasonic to Arduino Uno 19
3.6 L293D Driver 20
3.6.1 Features 20
3.6.2 Description 20
3.6.3 Pin Configuration 21
3.6.4 Interfacing of L293D to Arduino 23
3.7 DC Motors 24
3.7.1 Features 24
3.7.2 Description 25
3.7.3 connecting DC motors to Arduino 25

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 3.8 Relay 26
3.8.1 Features 27

3.8.2 Description 27

3.8.3 Pin Configuration 27

3.8.4 Connecting Relay to Arduino 28

3.9 LED 29

3.9.1 Features 29

3.9.2 Description 29

3.9.3 Connecting LED to Arduino 30

3.10 Buzzer 31

3.10.1 Features 31

3.10.2 Description 32

3.10.3 Pin Configuration 33

3.10.4 Connecting Buzzer to Arduino 34

Chapter 4 Software Tools 35

4.1 Introduction 35

4.2 Arduino IDE 35

4.3 Embedded C 36

4.4 AMR_VOICE App Application 37

4.5 Conclusions 39

Chapter 5 Results and Discussion 40

5.1 Introduction 40

5.2 Schematic Diagram 40

5.3 Flowchart 41

5.4 Experimental Setup 43

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 5.5 Results 44

5.6 Conclusions 47

Chapter 6 Conclusions 48

References 49

List of Figures

Figure No. Description Page No.

2.1 Arduino Uno Board Description 4

2.2 Arduino UNO Top View 6
3.1 Block diagram of the Project 10
3.2 RPS Board 11
3.3 HC-05 Bluetooth Module 13
3.4 Pin Configuration of HC-05 Bluetooth Module 14
3.5 Interfacing HC-05 Bluetooth module with Arduino 16
3.6 Ultrasonic sensor 18
3.7 Pin Configuration of Ultrasonic sensor 19
3.8 L293D Driver 21
3.9 Pin Configuration of L293D Driver 24
3.10 DC Motors 25
3.11 Relay 25
3.12 Pin Configuration of Relay 26
3.13 LED 28
3.14 Buzzer 30
4.1 Arduino IDE 33
4.2 Arduino IDE tool bar 35
4.3 AMR_ Voice Application 36
5.1 Schematic diagram of the complete project 39
5.2 Arduino Uno flowchart 40
5.3 AMR_ Voice Application App flowchart 41
5.4 Experimental Setup 42
5.5 Moving Forward 43
5.6 Turning Left 43
5.7 Turning Right 44
5.8 Moving Backward 45
5.9 Lights ON 45
5.10 Sound ON 46

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 Chapter 1 Introduction

1.1 Introduction

An Arduino-based voice-controlled robot is an innovative system designed to perform tasks

based on voice commands, demonstrating the fusion of robotics, automation, and human-
machine interaction. This project utilizes an Arduino microcontroller as the core
component, along with other hardware such as a voice recognition module, motor drivers,
and sensors. The voice recognition module processes voice inputs, converts them into
commands, and communicates with the Arduino to control the robot's movements and
actions.

The robot is capable of performing tasks like moving forward, backward, turning, stopping,
and more, all based on the user’s voice instructions. This project highlights advancements
in speech recognition technology and its applications in robotics. It has practical
implications in areas such as smart assistance, elder care, and automation systems, where
hands-free operation is essential. Through this project, the potential for seamless
integration of voice-controlled systems into everyday life is explored, emphasizing the
convenience and efficiency of such technologies.

1.2 Aim of the Project

To design and develop a voice-controlled robot using Arduino that can perform predefined
tasks and respond to user commands. The project focuses on integrating voice recognition
technology with motor control systems to create a user-friendly and cost-effective robotic
solution for applications such as home automation, assistance for differently-abled
individuals, and exploration of human-machine interaction."

The objectives of the project are as follows:

1. Implement accurate voice command recognition.

2. Use Arduino for command processing and robot control.
3. Develop efficient motor control for navigation.

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 4. Integrate sensors for obstacle detection and safety.
5. Design a user-friendly and responsive interface.
.

1.3 Methodology

The methodology for the Arduino-based voice-controlled robot involves identifying the
necessary hardware and software components, including the Arduino board, motors,
sensors, and a voice recognition module. The hardware assembly begins with constructing
the robot chassis and integrating the motors, sensors, and modules with the Arduino. Next,
the voice recognition system is implemented using a dedicated module or a Bluetoothbased
smartphone interface. Arduino programming is carried out to process voice commands and
control the robot's movements. The system is then tested to ensure accurate command
recognition and reliable performance. Finally, the robot's functionality is optimized for
better efficiency, scalability, and user experience.

1.4 Significance of the work

In this project we attempt to the Arduino-based voice-controlled robot represents a

significant advancement in robotics and embedded systems, highlighting the seamless
integration of human-computer interaction technologies. It has the following advantages:

1. Enhanced Accessibility: Provides assistance to differently-abled individuals through

voice commands.

2. Automation: Demonstrates practical applications of robotics in home automation and

task management.

3. User-Friendly Interaction: Simplifies human-machine interaction with intuitive voice

control.

4. Learning Opportunity: Serves as a hands-on project for understanding robotics,

Arduino programming, and voice recognition technology.

5. Cost-Effectiveness: Offers a low-cost solution using readily available components.

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6. Scalability: Can be expanded for advanced functionalities and applications in various
fields.

7. Technological Advancement: Contributes to the development of innovative and smart

robotic systems.

1.5 Organization of the thesis

This thesis is divided into six chapters including introduction and conclusions. The block
diagram, features, pin diagram and other functional units of Arduino UNO are explained in
Chapter 2. The description of various hardware components and the software used in the
project is explained in chapter 3 and chapter 4. The schematic diagram, flowchart,
experimental setup and results are discussed in chapter 5.

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 Chapter 2 Overview of Arduino UNO

2.1 Introduction
Arduino is an open-source electronics platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs like light on a sensor, a finger on a button
or a Twitter message and turn it into an output activating a motor, turning on an LED,
publishing something online. You can tell your board what to do by sending a set of
instructions to the microcontroller on the board. To do so, you use the Arduino
programming language (based on Wiring), and the Arduino Software (IDE) based on
Processing.

Over the years Arduino has been the brain of thousands of projects, from everyday objects
to complex scientific instruments. A worldwide community of makers - students, hobbyists,
artists, programmers, and professionals has gathered around this open-source platform,
their contributions have added up to an incredible amount of accessible knowledge that can
be of great help to novices and experts alike.

Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast
prototyping, aimed at students without a background in electronics and programming. As
soon as it reached a wider community, the Arduino board started changing to adapt to new
needs and challenges, differentiating its offer from simple 8-bit boards to products for loT
applications, wearable, 30 printing, and embedded environments. All Arduino boards are
completely open-source, empowering users to build them independently and eventually
adapt them to their particular needs. The software, too, is open-source, and it is growing
through the contributions of users worldwide.

2.2 Types of Arduinos

Different Arduino boards available in the market, with wide specifications. Each board uses
different kinds of microcontroller with different operating voltages, CPU speed, RAM size

4
and different number of analog and digital inputs. Some of the Arduino boards are given
below:

2.2.1 Arduino Uno

Arduino Uno is the most preferred board among all the Arduino boards. The processor
used is ATmega328P. Its operating and input voltage are 5V and 7 to 12 V respectively,
16MHz clock frequency, 6 analog pins and 14 digital IO pins, 1 kB EEPROM, 32 kB
Flash, a regular USB and 1 UART.

2.2.2 Arduino Due

First ARM based microcontroller Arduino board is the Arduino Due. It is a 32-bit
microcontroller-based Cortex-M3 Central Processing Unit. It is a very powerful
microcontroller with 54 digital I/O, 12 analog inputs, 2 analog outputs and 4 UART serial
interfaces. If we give more than 5V power supply to the Arduino, it will damage. It is
32bit ARM core, it has 512KB of flash memory, 96KB SRAM in which two banks are
there and they are 64KB and 32KB.

2.2.3 Arduino Mega 2560 Model

The Arduino Mega 2560 model is an advanced version of the previous existing model
Arduino Due. It has 256 KB of RAM memory and 54 input output pins. In that 16 pins
are used as analog pins and 14 pins are used for Pulse Wave Modulation (PWM).

2.2.4 Arduino Uno (R3)

The Uno is a huge option for your initial Arduino. This Arduino board depends on an
ATmega328P based microcontroller. It consists of 14-digital I/O pins, where 6-pins can
be used as PWM output pins, 6-analog inputs, a reset button, a power jack, a USB
connection, an In-Circuit Serial Programming header (ICSP) etc.

2.2.5 Arduino Leonardo Board

The first development board of an Arduino is the Leonardo board. This board uses one
microcontroller along with the USB. That means, it can be very simple and cheap also.

5
Because this board handles USB directly, program libraries are obtainable which let the
Arduino board follow a keyboard of the computer, mouse, etc.

2.3 Arduino UNO

Arduino Uno, which is a small board but useful for many applications.
• Arduino Uno is a microcontroller board based on the ATmega328P.
• It consists of
1. 14 digital input/output pins (of which 6 can be used as PWM outputs)
2. 6 analog inputs
3. 16 MHz quartz crystal
4. USB connection
5. Power jack
6. ICSP header
7. Reset button

Figure 2.1: Arduino Uno Board Description

2.3.1 Features of Arduino Uno

Salient features of Arduino Uno board.

• Microcontroller (MCU) : ATmega328

• Operating Voltage (DC) : DC 5V

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 • Input Supply Voltage (External) : 6 – 20 V DC

• Recommended Input Supply Voltage (DC) : 7 – 12 V

• Number of Digital Input / Output (I/O) Pins : 14

• PWM (Pulse Width Modulation) outputs : 6 (Pin 3, 5, 6, 9,10 & 11)

• Input Pins (Analog) : 6 (A0-A5)

• DC Current (Max) : 40 mA (per I/O Pin)

• DC Current for 3V Pin : 50 mA

• Flash Memory : 32 KB (ATmega328)

• Clock Speed (Ceramic Resonator) : 16 MHz

• SRAM (Memory) : 2 KB

• EEPROM (Memory) : 1 KB

2.3.2 Description of Arduino UNO

Fig 2.2: Arduino UNO Top View

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2.3.3 Pin Description of Arduino UNO

The connections to the Arduino can be made through the pins. The black plastic ‘headers’
are used to plug and connect a wire into the board. The functions vary from pin to pin.

1. GND: GND means ‘Ground’. There are sufficient GND pins to connect more
modules to the Arduino board.
2. 5V & 3.3V: The power supply to the modules is the 5V and 3.3V pins. 5V pin
supplies power at 5 volts and the 3.3V pin supplies power at 3.3 volts. In general,
most of the components work at the specified voltages given above.
3. Analog Pins: A0 to A5 pins are analog. The input to these pins is analog in nature.
These pins receive the data from an analog sensor. The smoke sensor and
temperature sensor give analog values. There is an ADC to convert it into a digital
value that will be processed by the controller.
4. Digital Pins: 0 to 13 are digital. These pins take the digital input from the sensor
and give digital output to the load.
5. PWM: The tilde (~) is shown adjacent to some of the digital pins on the Arduino
board which can be used as Pulse-Width Modulation pins & also as digital pins.
6. AREF (Analog Reference): It acts as an external reference voltage.

7. Reset Button: When Reset is pressed, that pin is grounded and restarts the code
loaded to Arduino.
8. Power LED Indicator: When a power source is connected, the LED turns ON. If
the LED doesn’t turn on, the connections need to be checked. If the connections are
good then the board might have been damaged.
9. Tx Rx LEDs: The Tx (transmitter) and Rx (receiver) LEDs will glow whenever
there is data transfer between Arduino and PC. It also glows for other serial
communication data transfer.
10. Voltage Regulator: The voltage regulator controls the fluctuations in the voltage
that is supplied to the Arduino board.

11. Main IC: The main IC on the Arduino is from the ATMEL Company, usually AT
mega series.

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2.4 Conclusions

In this chapter the history of Arduino and salient features of different types of Arduino
boards are explained. The architecture of Arduino Uno board is discussed along with its
pin configuration.

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 Chapter 3 Hardware Description

3.1 Introduction

A regulated power supply is an electrical device that provides a stable and consistent output
voltage, regardless of changes in input voltage or variations in load current. It ensures that
sensitive electronic components receive the required voltage for proper operation,
preventing damage due to fluctuations. Regulated power supplies are commonly used in
applications such as communication systems, industrial equipment, and laboratory testing,
where voltage stability is essential for performance and reliability. They come in two main
types: linear regulators (simpler but less efficient) and switching regulators (more efficient
but complex).

3.2 Block Diagram

Fig 3.1: Block Diagram of the Project

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3.3 Regulated Power Supply (RPS)

Fig 3.2: RPS Board

3.3.1 Features

1. Stable output voltage

2. Line and load regulation

3. Short-circuit protection

4. Overvoltage protection

5. Overcurrent protection

6. Heat management (e.g., heat sinks, thermal shutdown)

7. High efficiency (especially in switching regulators)

8. Adjustable output voltage (optional)

9. Low ripple and noise

10. Compact design

11. Indication LEDs for status monitoring

12. Multiple output channels (optional)

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3.3.2 Description

A Regulated Power Supply (RPS) board is an electronic circuit designed to provide a stable
and consistent output voltage to power various electronic devices, ensuring that
fluctuations in input voltage or load conditions do not affect the performance of the
connected components. It regulates the voltage to a fixed or adjustable value, maintaining
the desired output regardless of variations in the power source or load current.

The RPS board typically includes various protective features like short-circuit protection,
overvoltage protection, and overcurrent protection to prevent damage to both the power
supply and the connected equipment. Additionally, it may incorporate heat management
solutions like heat sinks and thermal shutdown mechanisms to prevent overheating.

RPS boards are commonly used in applications where precise voltage control is essential,
such as in communication systems, industrial machinery, laboratory testing, and embedded
systems. Depending on the design, these boards may offer adjustable output voltages to
cater to different requirements and may include multiple output channels to power different
devices simultaneously.

The key components of an RPS board include a transformer (for AC to DC conversion), a

rectifier circuit (to convert AC to DC), a voltage regulator (to ensure a stable output), and
capacitors (to filter noise and smooth the output). Additionally, switching regulators are
used in modern RPS boards to improve efficiency and minimize power loss.

In summary, an RPS board is crucial for ensuring the reliability, stability, and protection of
sensitive electronics by providing regulated and safe power.

3.3.3 Interfacing RPS Board to Arduino

1. Check the RPS Voltage Output Ensure that the RPS is configured to output a
voltage suitable for the Arduino board:
• For most Arduino boards (e.g., Uno, Mega), use 7–12V through the barrel jack or
VIN pin.

• If using the 5V pin, ensure the RPS outputs a regulated 5V.

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 2. Prepare the RPS and Arduino

• Turn off the RPS before making any connections.

• Verify the polarity of the RPS terminals (positive and negative).

3. Connect the RPS to the Arduino

• Barrel Jack Method: Connect the RPS’s positive terminal to the Arduino barrel
jack's center pin and the negative terminal to the outer sleeve.

• VIN and GND Pins: Connect the positive terminal of the RPS to the Arduino’s VIN
pin and the negative terminal to the GND pin.

4. Verify Connections
Double-check all connections to ensure there are no shorts or reversed polarities,
as these can damage the Arduino.
5. Power On the RPS

• Set the RPS to the desired voltage and turn it on.

Check the Arduino’s onboard power LED to confirm it is powered.

• Test the Setup

• Upload a simple program (like the Blink sketch) to verify the Arduino is functioning
correctly.

• Monitor the RPS for current draw to ensure it remains within safe limits (usually
less than 500mA for basic Arduino projects).

3.4 HC-05 Bluetooth Module

Fig 3.3: HC-05 Bluetooth Module

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3.4.1 Features

• Easy to use and minimum external components

• Status LED
• PIO control
• Config Button
• Range: 10 meters
• 5V power operation
• Typical -80dBm sensitivity
• Up to +4dBm RF transmit power
• Low Power 1.8V Operation ,1.8 to 3.6V I/O
• UART interface with programmable baud rate

3.4.2 Description

HC-05 Bluetooth Module is an easy-to-use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup. Its communication is via serial
communication which makes an easy way to interface with controller or PC. HC-05
Bluetooth module provides switching mode between master and slave mode which means
it able to use neither receiving nor transmitting data.

Major applications are as follows:

1. GPS Receiver
2. Industrial control
3. Mouse, keyboard, joystick
4. Microcontroller unit projects
5. Computer and peripheral devices

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3.4.3 Pin Configuration

Fig 3.4: Pin Configuration of HC-05 Bluetooth Module

HC-05 Bluetooth Module has 6 pins. They are:

1. Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is

set to high, then this module will work in command mode. Otherwise by default it is in
data mode. The default baud rate of HC-05 in command mode is 38400bps and 9600 in
data mode.
HC-05 module has two modes which are:
1. Data mode: Exchange of data between devices.

2. Command mode: It uses AT commands which are used to change setting of

HC-05. To send these commands to module serial (USART) port is used.

2. VCC: Connect 5 V or 3.3 V to this Pin.

3. GND: Ground Pin of module.

4. TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted
out serially on TXD pin)

5. RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth
module).

6. State: It tells whether module is connected or not.

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3.4.4 Interfacing HC-05 with Arduino

Fig 3.5: Interfacing HC-05 Bluetooth module with Arduino

1. Connect Hardware: Wire the HC-05 module to your Arduino as shown in the pin
connections table above.
2. Upload Code:

• Open the Arduino IDE.

• Paste the sample code above.

• Select the correct port and board in the Arduino IDE.

• Upload the code to the Arduino.

3. Pair HC-05 with a Device:

• Enable Bluetooth on your smartphone or laptop.

• Search for Bluetooth devices and pair with "HC-05" (default PIN is 1234 or 0000).

4. Open a Serial Monitor/App:

• On your phone, use a Bluetooth terminal app (e.g., Serial Bluetooth Terminal or
AMR Voice app).

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 • On your laptop, you can use a terminal program (e.g., TeraTerm or Arduino Serial
Monitor).

5. Test Communication:

• Type messages in the Serial Monitor of the Arduino IDE to send data to your phone.

• Send messages from the Bluetooth terminal app to view them in the Serial Monitor.

3.5 Ultrasonic Sensor

An ultrasonic sensor is a device that measures the distance to an object by using

ultrasonic sound waves. It works by emitting high-frequency sound pulses and
measuring the time it takes for the echoes to return. The time difference between
the initial signal and the echo is used to calculate the distance between the sensor
and the object.

3.5.1 Features

• supply voltage: 5V (DC).

• Supply current: 15mA.

• Modulation frequency: 40Hz.

• Output: 0 – 5V (Output high when obstacle detected in range).

• Beam Angle: Max 15 degrees.

• Distance: 2cm – 400cm.

• Accuracy: 0.3cm.
• Communication: Positive TTL pulse.

3.5.2 Description

An ultrasonic sensor is a kind of electronic device that uses ultrasonic sound waves to detect
the distance between two objects and transforms the reflected sound into an electrical
signal. Ultrasonic waves move quicker than audible sound (i.e., the sound that humans can
hear).

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The transmitter (which generates sound using piezoelectric crystals) and the receiver are
the two primary components of ultrasonic sensors (which encounters the sound after it has
traveled to and from the target).

To compute the distance between the sensor and the item, the sensor measures the time it
takes from the transmitter's sound emission to its contact with the receiver. D = 12 T x C
(where D is the distance, T is the time, and C is the sound speed of 343 meters/second) is
the formula for this computation.

Fig:3.6 Ultrasonic sensor

3.5.3 Pin Configuration

1. Connect the Echo pin of the sensor to the D2 pin of the Arduino.

2. Connect the Trig pin of the sensor to the D3 pin of the Arduino.

3. Navigate to Tools and select board and port.

4. Verify and compile the code, then upload the code to the Arduino Uno R3 board.
5. Monitor the output in the Serial monitor (Set the baud rate as 9600). To open Serial
monitor Tools>Serial Monitor or (Ctrl+Shift+M).

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 Fig 3.7: Interfacing Ultrasonic sensor with Arduino

3.5.4 Interfacing of Ultra Sonic Sensor to Arduino

To interface an ultrasonic sensor to an Arduino, you can:

1. Connect the pins: Connect the sensor's pins to the Arduino's pins as follows:

o TRIG: Connect the sensor's trigger pin to the Arduino's pin 4 o

ECHO: Connect the sensor's echo pin to the Arduino's pin 5 o

VCC: Connect the sensor's power pin to the Arduino's 5V output

o GND: Connect the sensor's ground pin to the Arduino's GND

2. Upload code: Open the Arduino IDE, type the code, and upload it to the Arduino
board

3. View the distance: The distance measured by the ultrasonic sensor will appear on
the serial monitor.

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3.6 L293D Driver
L293D is a dual H-bridge motor driver integrated circuit (IC).Motor drivers act as current
amplifiers since they take a low-current control signal and provide a higher-current signal.
This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two
DC motors can be driven simultaneously, both in forward and reverse direction. The motor
operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input
logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise
and anticlockwise directions, respectively.Enable pins 1 and 9 (corresponding to the two
motors) must be high for motors to start operating.

3.6.1 Features
• Wide Supply-Voltage Range: 4.5 V to 36 V.
• Separate Input-Logic Supply.
• Internal ESD Protection.
• High-Noise-Immunity Inputs.
• Output Current 1 A Per Channel (600 mA for. L293D)
• Peak Output Current 2 A Per Channel (1.2 A for. L293D)
• Output Clamp Diodes for Inductive Transient. Suppression (L293D).

3.6.2 Description
A motor driver is basically a current amplifier which takes a low-current signal from the
microcontroller and gives out a proportionally higher current signal which can control and
drive a motor. In most cases, a transistor can act as a switch and perform this task which
drives the motor in a single direction.

Turning a motor ON and OFF requires only one switch to control a single motor in a single
direction. What if you want your motor to reverse its direction? The simple answer is to
reverse its polarity. This can be achieved by using four switches that are arranged in an
intelligent manner such that the circuit not only drives the motor but also controls its

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direction. Out of many, one of the most common and clever designs is an H-bridge circuit
where transistors are arranged in a shape that resembles the English alphabet “H”.

Fig 3.8: L293D Driver

3.6.3 Pin Configuration

Fig 3.9: pin configuration of L293D

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Enable 1-2 (Pin No. 1)-:

This pin is an active-high when it receives high or logic 1 then it enables the left part of the
ic and when it receives active low i.e. logic 0 or low voltage then the left part of the ic
won’t work. (in short, it enablers the left part of the ic) At the end of the pin description,
there are two important notes. Please read this carefully.

Input 1 (Pin No. 2)-:

This is an input pin to control the direction of the left motor. (Control signal received from
a microcontroller or microprocessor)

Output 1 (Pin No. 3)-:

It’s connected to one of the terminals of the motor and it’s is high when input 1 is high else
it will be low.

Ground (Pin No. 4 & 5)-:

Both pins are for heat sink and ground pins. (because its drive two motors that’s why it has
an extra load to compensate that load it has two pins as heat sink otherwise the ic gets
overheated and burn out)

Output 2 (Pin No. 6)-:

It’s connected to the second terminals of the motor and it’s is high when input 2 is high else
it will be low.

Input 2 (Pin No. 7)-:

This is an input pin to control the direction of the left motor. (Control signal received from
a microcontroller or microprocessor)

Vcc 2 (Pin No. 8)-:

Connected to the power supply of range 4.5V to 36V. this voltage used to drive or to run
both motors

Enable 3-4 (Pin No. 9)-:

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This pin is an active-high when it receives high or logic 1 then it enables the right part of
the IC and when it receives active low i.e. logic 0 or low voltage then the right part of the
IC won’t work. (in short, it enables the right part of the IC.)

Input 3 (Pin No. 10)-:

This is an input pin to control the direction of the right motor. (Control signal received from
a microcontroller or microprocessor)

Output 3 (Pin No. 11)-:

It’s connected to one of the terminals of the motor and it’s is high when input 3 is high else
it will be low.

Ground (Pin No. 12 & 13)-:

Both pins are for heat sink and ground pins. (because its drive two motors that’s why it has
an extra load to compensate that load it has two pins as heat sink otherwise the ic gets
overheated and burn out)

Output 4 (Pin No. 14)-:

It’s connected to the second terminals of the motor and it’s is high when input 4 is high else
it will be low.

Input 4 (Pin No. 15)-:

This is an input pin to control the direction of the right motor. (Control signal received from
a microcontroller or microprocessor)

Vcc 1 (Pin No. 16)-:

It provides power to the L293D IC. So, this pin should be supplied with 5V. if this pin is
not powered with 5V then the whole IC will not work.

3.6.4 Interfacing of L293D to Arduino

The L293D motor driver is used to drive two motors simultaneously. Further, the direction
of each motor can be controlled independently. This IC works on the principle of the
quadruple high-current half-H bridge. H-bridge is a setup that is used to run the motor in
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both clockwise and anticlockwise directions. You can easily drive a motor of up to 36 volts
and whose maximum current consumption is 600mA using this IC. Also, it is used to
control other inductive loads such as relays and bipolar stepping motors. This driver is used
to design DC motor drivers, stepper motor drivers, and latching relay drivers

Fig 4.0: Interfacing of L293D to Arduino

3.7: DC Motors

A DC motor is an electrical motor that uses direct current (DC) to produce mechanical
force. The most common types rely on magnetic forces produced by currents in the coils.
Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic, to periodically change the direction of current in part of the motor.

3.7.1 Features

• No need for a drive circuit when running at constant speed.

• High-efficiency design.

• Able to operate at high speeds.

• High startup torque.

• Responsive and easy to use as speed and torque can be controlled by voltage.

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3.7.2 Description

DC motors were the first form of motors widely used, as they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed can be
controlled over a wide range, using either a variable supply voltage or by changing the
strength of current in its field windings. Small DC motors are used in tools, toys, and
appliances. The universal motor, a lightweight brushed motor used for portable power tools
and appliances can operate on direct current and alternating current. Larger DC motors are
currently used in propulsion of electric vehicles, elevator and hoists, and in drives for steel
rolling mills. The advent of power electronics has made replacement of DC motors with
AC motors possible in many applications.

Fig 4.1: DC Motor

3.7.3 Connecting DC motors to Arduino

A direct current, or DC, motor is the most common type of motor. DC motors normally
have just two leads, one positive and one negative. If you connect these two leads directly
to a battery, the motor will rotate. If you switch the leads, the motor will rotate in the
opposite direction.

To control the direction of the spin of DC motor, without changing the way that the leads
are connected, you can use a circuit called an H-Bridge. An H bridge is an electronic circuit
that can drive the motor in both directions. H-bridges are used in many different
applications, one of the most common being to control motors in robots. It is called an

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Hbridge because it uses four transistors connected in such a way that the schematic diagram
looks like an "H."

You can use discrete transistors to make this circuit, but for this tutorial, we will be using
the L298 H-Bridge IC. The L298 can control the speed and direction of DC motors and
stepper motors and can control two motors simultaneously. Its current rating is 2A for each
motor. At these currents, however, you will need to use heat sinks.

Fig 4.2: Connecting DC motor to Arduino

3.8 Relay

Fig 4.3: Relay

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3.8.1 Features

• 12V DC SPDT Relay

• Rated up to 7A @240VAC
• Fully Sealed

3.8.2 Description

The Single Pole Double Throw SPDT relay is quite useful in certain applications because
of its internal configuration. It has one common terminal and 2 contacts in 2 different
configurations: one can be Normally Closed and the other one is opened or it can be
Normally Open and the other one closed. So basically, you can see the SPDT relay as a
way of switching between 2 circuits: when there is no voltage applied to the coil one circuit
“receives” current, the other one doesn’t and when the coil gets energized the opposite is
happening.

3.8.3 Pin Configuration

Fig 4.4: Pin Configuration of Relay

1. Coil End 1- Used to trigger (On/Off) the Relay, normally one end is connected to 12V
and the other end to ground.

2. Coil End 2 - Used to trigger (On/Off) the Relay, normally one end is connected to 12V
and the other end to ground.

3. Common (COM) - Common is connected to one End of the Load that is to be

controlled.

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4. Normally Close (NC) - The other end of the load is either connected to NO or NC. If
connected to NC the load remains connected before trigger.

5. Normally Open (NO) - The other end of the load is either connected to NO or NC. If
connected to NO the load remains disconnected before trigger.

3.8.4 Connecting Relay to Arduino

Fig 4.5: Connecting Relay to Arduino

1. Power the Relay Module

• Connect the relay module's VCC pin to the Arduino's 5V pin.

• Connect the GND pin of the relay module to the Arduino's GND.

2. Connect the Control Signal

• Connect the relay module's IN pin to a digital output pin on the Arduino (e.g., pin 7).

3. Connect the Load

• Connect the COM terminal to one side of the load.

• Connect the other side of the load to the power supply (e.g., mains live or positive
terminal).

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 • Connect the NO terminal to the remaining power supply terminal.

• If you want the load to be on by default, use the NC terminal instead of NO.

4. Upload Arduino Code

Write a simple sketch to control the relay.

3.9 LED

LED stands for light emitting diode. LED lighting products produce light up to 90% more
efficiently than incandescent light bulbs. How do they work? An electrical current passes
through a microchip, which illuminates the tiny light sources we call LEDs and the result
is visible light.

3.9.1 Features

1.Consume less power

2.Low Operational Voltage

3.More efficient

4.Versatile

5.Lasts longer

3.9.2 Description:

A light-emitting diode (LED) is a semiconductor device that emits light when current flows
through it. Electronics in the semiconductor recombine with electron holes, releasing
energy in the form of Photons. The color of the light (corresponding to the energy of the
photons) is determined by the energy required for electrons to cross the band gap of the
semiconductor. White light is obtained by using multiple semiconductors or a layer of light-
emitting phospor on the semiconductor device.

Appearing as practical electronic components in 1962, the earliest LEDs emitted

lowintensity infrared (IR) light. Infrared LEDs are used in remote control circuits, such as
those used with a wide variety of consumer electronics. The first visible-light LEDs were
of low intensity and limited to red.

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 Fig 4.6: LED

3.9.3 Connecting LED to Arduino

Arduino UNO has built in led available at pin no. 13. This built in led is very useful when
you want to show some signal without connecting external led.
If you want to learn how to connect led to

Arduino can connect led externally by using the resistor in between the digital pin of
Arduino to the led. While connecting the led with the Arduino make sure you know the
resistor value required. We will also discuss how to calculate the led resistance. After
finding the correct value resistor we can interface the led with Arduino.

For a single led, we need one digital output from the Arduino. We use the digital pin 13 for
interfacing the led with Arduino. We will connect the led to forward bias. Means LED’s
anode to the pin no. 13 and cathode to the GND of the Arduino.

When we are using external Led to the Arduino board, we should connect the proper value
resistor to the led to limit the current coming from the Arduino uno pin. A led requires
around 10-20mA of current but Arduino pin gives around 40mA, so due to excess current
led may damage. For protecting the led we need a current limiting resistor.

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 Fig 4.7: Connecting LED to Arduino

3.10 Buzzer

The piezo, also known as the buzzer, is a component that is used for generating sound. It is
a digital component that can be connected to digital outputs, and emits a tone when the
output is HIGH. Alternatively, it can be connected to an analog pulse-width modulation
output to generate various tones and effects.

3.10.1 Features

• Oscillation Frequency: 2.3±0.3KHz.

• Operating Voltage: 3 ~ 6VDC.

• Rated Voltage: 5 VDC.

• Current Consumption: MAX.25mA.

• Sound Pressure Level: MIN. 85dB.

• Tone Nature: Constant.

• Operating Temperature: -20 ~ +45℃

• Storage Temperature: -25 ~ +60℃

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3.10.2 Description

There are many ways to communicate between the user and a product. One of the best ways
is audio communication using a buzzer IC. So during the design process, understanding
some technologies with configurations is very helpful. So, this article discusses an
overview of an audio signaling device like a beeper or a buzzer and its working with
applications.

Fig 4.8: Buzzer

An audio signaling device like a beeper or buzzer may be electromechanical or piezoelectric

or mechanical type. The main function of this is to convert the signal from audio to sound.
Generally, it is powered through DC voltage and used in timers, alarm devices, printers,
alarms, computers, etc. Based on the various designs, it can generate different sounds like
alarm, music, bell & siren.

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3.10.3 Pin Configuration

Fig 4.9: Pin Configuration of PIN

The pin configuration of the buzzer is shown below. It includes two pins namely positive
and negative. The positive terminal of this is represented with the ‘+’ symbol or a longer
terminal. This terminal is powered through 6Volts whereas the negative terminal is
represented with the ‘-‘symbol or short terminal and it is connected to the GND terminal.

3.10.4 Connecting Buzzer to Arduino

Arduino Uno - Buzzer

GND - GND (The short leg)

5V - Vcc (The long leg)

For prototyping purpose use the Male/Female Jumber wire.

Next I am going to interface the buzzer with tone () function

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 Fig 5.0: Connecting Buzzer to Arduino

3.10 Conclusions

In this chapter different hardware modules involved in the project are discussed and their
interfacing is explained

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Chapter 4 Software
Tools
4.1 Introduction

The software tools which are used in this project are Arduino IDE, Embedded C, Blynk IoT
Application and Proteus Software.

4.2 Arduino IDE

Arduino IDE (Integrated Development Environment) is used to write code to interface

different modules with an Arduino board. An Arduino board connects to the computer via
USB cable. Arduino IDE is user friendly where code can be written and various toolbars
are available for easy programming. Arduino IDE interface is shown in Fig. 4.1.

Fig 4.1: Arduino IDE

Steps to follow for Arduino programming IDE:

Step 1: Choose a suitable Arduino board and connect it to PC using USB cable.
Step 2: Arduino IDE Software should be downloaded and installed from the website.

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Step 3: Provide power supply. Most Arduino boards have USB as a power source. Adaptor
can also be a choice. The power LED named PWR glows on the power supply.
Step 4: Start Arduino IDE. Open the installed software by double click.
Step 5: Initiate a project. It can be done in two ways:
1. A new project can be designed.
2. An existing project can be reviewed.
Step 6: Type of Arduino board needs to be selected. Any discrepancy can be eliminated
while uploading code if a compatible board is chosen. Board can be chosen from the
toolbar.
Step 7: Configuration of Serial port. See the port to which Arduino is connected and select
that port like COM3.
Step 8: The program can now be uploaded to the board. The code is finally dumped and
the result can be verified. Done uploading is seen on screen if upload is successful.

Fig 4.2: Arduino IDE tool bar

4.3 Embedded C

Embedded C is a set of language extensions for the C programming language by the C

Standards Committee to address commonality issues that exist between C extensions for
different embedded systems. In 2008, the C Standards Committee extended the C language
to address these issues by providing a common standard for all implementations to adhere
to. It includes a number of features not available in normal C, such as, fixed point
arithmetic, named address spaces, and basic I/O hardware addressing.

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4.4 AMR_VOICE App Application

Fig 4.3: AMR _ App Inventor Logo

Introduction

AMR Voice Recorder is a powerful and user-friendly Android application that allows you
to record high-quality audio files with ease. Whether you need to capture important
meetings, interviews, or personal memos, this app has got you covered.

With its intuitive interface, AMR Voice Recorder makes recording audio a breeze. Simply
launch the app, press the record button, and start speaking. The app will automatically save
your recordings in the AMR format, ensuring optimal audio quality while keeping file sizes
small.

One of the standout features of AMR Voice Recorder is its ability to pause and resume
recordings. This means that you can easily take breaks during long recordings without
having to start a new file. Additionally, the app allows you to trim and edit your recordings,
so you can remove any unwanted parts before saving or sharing them.

AMR Voice Recorder also offers a range of customization options to enhance your
recording experience. You can choose from different audio quality settings, adjust the
microphone sensitivity, and even enable automatic gain control to ensure consistent
volume levels.

37
Once you have finished recording, you can easily share your files via email, messaging
apps, or cloud storage services. The app also provides a built-in file manager, allowing
you to organize and access your recordings with ease.

Whether you need to record lectures, interviews, or personal notes, AMR Voice Recorder
is a reliable and feature-packed solution. Download the app now and start capturing
crystal-clear audio on your Android device.

Fig 4.4: AMR_ App Inventor Design Editor

Features:

• Sampling frequency 8 kHz/13-bit (160 samples for 20 ms frames), filtered to 200–

3400 Hz.

• The AMR codec uses eight source codecs with bit-rates of 12.2, 10.2, 7.95, 7.40,
6.70, 5.90, 5.15 and 4.75 kbit/s.

• Generates frame length of 95, 103, 118, 134, 148, 159, 204, or 244 bits for AMR
FR bit rates 4.75, 5.15, 5.90, 6.70, 7.40, 7.95, 10.2, or 12.2 kbit/s, respectively.
AMR HR frame lengths are different.

• AMR utilizes discontinuous transmission (DTX), with voice activity detection

(VAD) and comfort voice generation (CNG) to reduce bandwidth usage during
silence periods

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 • Algorithmic delay is 20 ms per frame. For bit-rates of 12.2, there is no "algorithm"
look-ahead delay. For other rates, look-ahead delay is 5 ms. Note that there is 5 ms
"dummy" look-ahead delay, to allow seamless frame-wise mode switching with the
rest of rates.

• AMR is a hybrid speech coder, and as such transmits both speech parameters and
a waveform signal

• Linear predictive coding (LPC) is used to synthesize the speech from a residual
waveform. The LPC parameters are encoded as line spectral pairs (LSP).

• The residual waveform is coded using algebraic code-excited linear pairs

(ACELP).

• The complexity of the algorithm is rated at 5, using a relative scale where G.711 is
1 and G.279a is 15.

• PSQM testing under ideal conditions yields mean opinion scores of 4.14 for AMR
(12.2 kbit/s), compared to 4.45 for G.711 (μ-law)

• PSQM testing under network stress yields mean opinion scores of 3.79 for AMR
2.2 kbit/s), compared to 4.13 for G.711 (μ-law)

4.5 Conclusions
In this chapter, software tools like Arduino IDE, Embedded C, MIT App Inventor, Blynk
IoT App and Proteus Software are studied.

39
Chapter 5 Results and Discussion
5.1 Introduction

In this chapter we discuss the project outputs and the sequential process of the project, i.e.,

flowchart of the project, and schematic diagram of setup (by Proteus software), explanation

of experimental setup, and results of the project.

5.2 Schematic diagram

Figure 5.1 shows the schematic diagram of the project.

Fig 5.1: Schematic diagram of the project

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The HC-05 Bluetooth module is interfaced with Arduino. All the other components are
connected with their respective pin connections. The circuit is connected as per the
schematic diagram shown above.

5.3 Flowchart

Figure 5.2 shows the flowchart of Arduino

Fig 5.2: Arduino flowchart

This diagram represents the workflow of a voice-controlled robotic system. Here's a

description of the image:

41
1. Voice Signals: The process begins with the user providing voice commands.

2. ARM Micro-Controller: The voice signals are received and processed by an ARM

microcontroller. This acts as the central processing unit of the system.

3. Arduino UNO: The processed data is sent to the Arduino UNO, which handles the

control logic for the robot's movements and functions.

4. BitVoicer Server: Simultaneously, the ARM microcontroller interacts with the

BitVoicer server for voice processing and speech output generation.

5. Control Logic: The Arduino UNO implements control logic to divide tasks into two

parts: o Robot's Body Control: Commands related to movement and navigation are

executed to control the robot's body.

o Gripper Control: Commands specific to the robotic gripper are processed.

6. Outputs:

o Robot's Body: The body of the robot performs the movement or action based

on the commands.

o Gripper: The gripper performs actions like picking or holding objects.

7. Speech Output: The BitVoicer server provides appropriate audio feedback or speech

output as needed.

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 Fig 5.3: AMR_ Voice App flowchart

5.4 Experimental Setup

Figure 5.4 shows the experimental setup of the project.

Fig 5.4: Experimental Setup

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5.5 Results

The following figures show the results obtained during this project.

Fig 5.5: Moving Forward

Fig 5.5 it can be observed that robot moving forward.

Fig 5.6: Turning Left

In figure 5.6 it can be observed that the robot is turning left.

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 Fig 5.7 Turning Right

Figure 5.7 it can be observed that the robot is turning right.

Fig 5.8 Moving Backward

Figure 5.8 it can be observed that the robot is Moving Back.

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 Fig 5.9 Lights ON

Figure 5.9 it can be observed that the lights are being ON.

Fig 5.10 Sound ON

Figure 5.10 it can be heard that the robot make sound using the buzzer.

46
5.6 Conclusions
In this chapter we have seen the schematic diagram, flowchart, experimental setup of the
project and their results during various operations.

47
 Chapter 6
The Arduino-based voice-controlled robot demonstrates how innovative technology can
simplify human-machine interaction. By integrating voice recognition with hardware
components, this project highlights the potential of robotics in automating tasks and
enhancing user convenience. The use of affordable and accessible components like the
Arduino board and Bluetooth modules ensures that such projects are not only practical but
also cost-effective.

This robot serves as a foundation for further advancements in voice-controlled systems,

paving the way for more sophisticated applications in fields like assistive technologies,
home automation, and industrial robotics. With continuous improvements, voicecontrolled
robots can play a significant role in making technology more intuitive and userfriendly.

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 References
1. https://www.arduino.cc/
2. https://www.electronicshub.org/arduino-introduction/
3. https://ieeexplore.ieee.org/document/9760583

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