1 Professor, Department of Mechanical Engineering, Iran University of Science and Technology,

2 Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran


In this article, the advantages of navigation based on dual tone multiple frequencies (DTMF) technique through telecommunication lines is studied. First, the calculations of direct and inverse kinematics of the manipulator in computer are transferred to the PIC microprocessors center. Next, each PIC is required to control and automate the relevant link separately. The main purpose of this work is making it possible to control the robot via a telephone line and without a modem. In order to apply this idea, computer is analyzed the data which received from the operator and insert the necessary instructions through the serial port using AVR microcontroller in the embedded hardware at the phone line and sends them to the hardware of the robot. Then the robot is performed the processes as a closed loop design and provides the necessary feedback for the computer. Real-time control, low volume of software and hardware computations and the possibility of using the phone lines with low and medium bandwidth in addition to ADSL lines simultaneously are the special features of this method. In the proposed method, control data and the corresponding feedbacks are transmitted as the remote closed loop control, which can be combined in the developing stages with other control methods such as neural networks which results the maximum productivity. At the end of this work, examination of the time delay of tele-controller system and experimenting according to the ISO9283 standard, specific to the accuracy of the robot, is carried out.