gesture controlled robot

A project report on

GESTURE CONTROLLED ROBOT

(Hand Glove Based)

Submitted to

Uttar Pradesh Technical University

In Partial Fulfillment of the Requirements

for the Degree of

Bachelor in Technology

in

Electronics & Instrumentation Engineering

Under the supervision of

Mr.T.S.S.Subramanian (Assist. Professor)

Department of Electronics & Instrumentation Engineering

Submitted By

Harendra Rajput 1106432017

Prateek Gupta 1106432029

Shubham Varshney 1106432037

Vishnu Upadhyay 1106432044

Hindustan College of Science & Technology, Mathura

May,2015

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ABSTRACT

A gesture is a form of non-verbal communication or non-vocal communication we

implement in our day to day life. This project takes this mode of communication to a

whole new level. Enormous amount of work has been done on wireless gesture

controlling robots. In this project, various methodologies have been analysed and

reviewed with their merits and demerits under various operational and functional

strategies. Thus, it can be concluded that features like user friendly interface, light

weight and portability of android OS based smart phone has overtaken the

sophistication of technologies like programmable glove, static cameras etc., making

them obsolete. Although recent researches in this field have made wireless gesture

controlling a ubiquitous phenomenon, it needs to acquire more focus in relevant

areas of applications like home appliances, wheelchairs, artificial nurses, table top

screens etc. in a collaborative manner. In this project we have explained the

development of a robot which is controlled wirelessly with the help of hand gestures.

The complete robotic assembly is made into two modules a transmitter assembly is

placed on the glove comprising of 433 MHz RF Module, HT12E IC.

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ACKNOWLEDGEMENT

Development of this project was a meticulous job and requires a lot of

commitment. It is pleasure for us to express our thanks and heartiest gratitude to

Mr. T.S.S.Subramanian (Asst. Professor, EIE Department) ,Mr. Nitin Bansal

(Project Coordinator) and Mr. S.K. Agrahari (H.O.D) for providing us the

required useful information and guiding us through this project. They were very

encouraging and helpful throughout this project.Our sincere gratitude to HCST,

in general for providing, study material and labs with all facilities for project

development.

We would like to thank all those who helped us directly or indirectly during the

development of this challenging project. We would like to take this opportunity

to thank them all while we cheerfully share the accurate credit for accurate

aspect of this project report, the mistakes and omissions we have to claim as our

alone please bring it out to our notice.

Harendra Rajput (1106432017)

Prateek Gupta (1106432029)

ShubhamVarshney (1106432037)

Vishnu Upadhyay (1106432044)

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TABLE OF CONTENTS

Title PageNo.

Certificate........ii Abstract.. iii Acknowledgement .iv Objective. . .ix

CHAPTER 1: INTRODUCTION

1.1 Robot ..x

1.2 Human machine interaction ..xi

1.3 Gesture ....xi

1.4 Motivation for project ...xi

LITERATURE SURVEY.........xi

CHAPTER 2 : COMPONENTS DESCRIPTION

2.1 433.92 Transmitter/Reciever ..xiii-xv

2.2 Motor Driver Ic (L293D) ..xvi

2.3 Atmel AT89S52 Microcontroller xvii-xxviii

2.4 Voltage Regulator IC (7805) ....xxix

2.5 Capacitors .xxx

2.6 11.0592 MHz Crystal Oscillators ..xxxi

2.7 PCB ..xxxii

2.8 SINGLE POLE ANTENNA..xxxiii

2.9 LEDs 3mm ..xxxiv

2.10 Battery 12V 3.5 A ..xxxv

2.11 LM324 Comparator IC....xxxvi-xl

Soldering

Need for flux

2.12 Resistors .xli

2.13 Encoder ..xlii

v

2.14 Decoder .xliii

2.15 Velostat ..xliv

2.16 Switch..xlv

2.17 Diode..xlvi

CHAPTER 3 :

3.1 Schematic Diagramsxlvii-xlviii

3.2 Process For Making Hand glove circuit..xlix

3.3 Components Required ...li

3.4 Code for reciever ...lii

CHAPTER 4: ADVANTAGESliii-liv

CHAPTER 5: FUTURE USE.lv

CHAPTER 6: CONCLUSION..lvi

GLIMPSES OF PROJECT...lvii

REFERENCES..lvii

vi

LIST OF FIGURES

Figure Page No

CHAPTER 2

1. 433.92MHz TRANSMITTER/RECIEVER ....xiii-xv

2. MOTOR DRIVER IC (L293D) ...xvi

3. ATMEL AT 89S52 MICROCONTROLLER Pin Diagramxvii

4. AT 89S52 ICxvii

5. VOLTAGE REGULATOR IC ...xxix

6. CAPACITOR 10F..........................xxx

7. Crystal Oscillators...xxxi

8. PCB..xxvi

9. Single Pole Antenna...xxxiii

10. LED 3mm..xxxiv

11. Batteryxxxv

12. LM324 IC OP-AMP..................................xxxvi

13. LM324 COMPARATOR IC Pin Config..xxxvi

14. LM324 COMPARATOR IC .xxxvii

15. Resistors Coding...xli

16. HT12E ENCODER IC PIN DIAGRAM.. ..xlii

17. HT12D DECODER IC PIN DIAGRAM ..xliii

18.VELOSTAT .. .....xliv

vii

19. Switch.xlv

20. Diode.xlvi

CHAPTER 3

1. Transmitter..xlvii

2. Reciever..xlvii

GLIMPSES OF PROJECTlvii

viii

LIST OF TABLES

TABLE NO. TOPIC PAGE NO.

1 PORT 1

CONFIGURATION

xxvi

2 PORT 3

CONFIGURATION

xxvii

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OBJECTIVE

1. Humans communicate mainly by vision and gesture; therefore, a man-machine interface would be more intuitive if it made greater use of

gesture recognition. Another advantage is that the user not only can

communicate from a distance, but have no need of physical contact

with the computer. We aim to design hardware instrumentation for

gesture controlled robot

2. Hardware instrumentation-gesture device 3. Hardware instrumentation-robotic device 4. To do real time monitoring of the system

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CHAPTER 1

INTRODUCTION

We generally find people working in chemical industries under different

hazardous condition. These people suffer with many dangerous diseases

like skin cancer, lungs problem and many more. So we finally thought of

designing a robot that can copy that instant action of human being under

various conditions and situations .In market many types of robot are

available that are controlled by remote or cellphone or by direct wired

connection but their costs are high even for low end application activities.

So we decided to design a robot that doesnt require any type of remote or any physical communication module. It is a smart robot which will be

driving itself according to the gestures of user's hand. Hardware required

is very small, and hence low cost and small in size. Thus, monitoring a

number of tasks from a distance wirelessly in a more convenient way is

possible.

Major artifacts related to this project are explained below.

1.1 ROBOT

A robot is usually an electro-mechanical machine that can perform tasks

automatically. Some robots require some degree of guidance, which may

be done using a remote control or with a computer interface. Robots can

be autonomous, semi-autonomous or remotely controlled. Robots

have evolved so much and are capable of mimicking humans that they

seem to have a mind of their own.

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1.2 HUMAN MACHINE INTERACTION

An important aspect of a successful robotic system is the Human-

Machine interaction. In the early years the only way to communicate with

a robot was to program which required extensive hard work. With the

development in science and robotics, gesture based recognition came into

life. Gestures originate from any bodily motion or state but commonly

originate from the face or hand. Gesture recognition can be considered as

a way for computer to understand human body language. This has

minimized the need for text interfaces and GUIs (Graphical User

Interface).

1.3 GESTURE

A gesture is an action that has to be seen by someone else and has to

convey some piece of information. Gesture is usually considered as a

movement of part of the body, esp. a hand or the head, to express an idea

or meaning.

1.4 MOTIVATION FOR PROJECT

Our motivation to work on this project came from a disabled person who

was driving his wheel chair by hand with quite a lot of difficulty. So we

wanted to make a device which would help such people drive their chairs

without even having the need to touch the wheels of their chairs.

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LITERATURE SURVEY

There exist some works in the field gesture recognition in which

instruments are designed and build for man-machine interface using a

video camera to interpret the American one-handed sign language

alphabet and number gestures (plus others for additional keyboard and

mouse control).

Humans communicate mainly by vision and sound, therefore, a man-

machine interface is also available which is intuitive. It makes greater use

of vision and audio recognition. Another advantage is that the user not

only can communicate from a distance, but need have no physical contact

with the computer. However, unlike audio commands, a visual system

will be preferable as in noisy environments or at situations where sound

would cause a disturbance.

There is a simplification used in this project, which was not found in any

recognition methods researched. The number of different gestures

recognised and the recognition accuracy are amongst the best found.

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CHAPTER 2

COMPONENTS DESCRIPTION

2.1 433.92 MHz TRANSMITTER/RECEIVER

FIGURE 1: 433.92 MHz TRANSMITTER/RECEIVER

These RF Modules are designed to serve as a tool for electronic

design engineers, developers and students to perform wireless

experiments. These modules make it easy for any NON RF

Experienced developer to add Wireless RF Remote Control to their

project. The RF Modules are in a PCB (Printed Circuit Board)

form with a header that fits directly into most of the prototyping

boards. These are easy to use boards that include encoders,

decoders, addressing, RF data Processing and even the antenna, in

a simple fully range tested board that is ready to plug right into

your project. Just apply +5VDC, ground, and the communication

pins you require and enjoy hassle free wireless communications.

The boards operate on +5V and easily interface to your Basic

Stamp.

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Transmitter

Specification:

Working voltage: 3V - 12V fo max. power use 12V

Working current: max Less than 40mA max , and min 9mA

Resonance mode: (SAW)

Modulation mode: ASK

Working frequency: Eve 315MHz Or 433MHz

Transmission power: 25mW (315MHz at 12V)

Frequency error: +150kHz (max)

Velocity : less than 10Kbps

xv

Receiver:

Specification:

Working voltage: 3V - 12V fo max. power use 12V

Working current: max Less than 40mA max , and min 9mA

Resonance mode: (SAW)

Modulation mode: ASK

Working frequency: Eve 315MHz Or 433MHz

Transmission power: 25mW (315MHz at 12V)

Frequency error: +150kHz (max)

Velocity : less than 10Kbps

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2.2 MOTOR DRIVER IC(L293D)

FIGURE 2: Motor Driver IC (L293D)

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. When an enable

input is high, the associated driver gets enabled. As a result, the

outputs become active and work in phase with their inputs.

Similarly, when the enable input is low, that driver is disabled, and

their outputs are off and in the high-impedance state.

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2.3 ATMEL AT89S52 MICROCONTROLLER

Fig 3-AT89S52 C Pin diagram

Fig 4: Atmel AT89S52Microcontroller IC

xviii

DESCRIPTION

The AT89S52 is a low-power, high-performance CMOS 8-bit

microcontroller with 8K bytes of in-system programmable Flash

memory. The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the

industry-standard 80C51 instruction set and pin out. The on-chip

Flash allows the program memory to be reprogrammed in-system

or by a conventional nonvolatile memory programmer. By

combining a versatile 8-bit CPU with in-system programmable

Flash on a monolithic chip, the Atmel AT89S52 is a powerful

microcontroller which provides a highly-flexible and cost-effective

solution to many embedded control applications. The AT89S52

provides the following standard features: 8K bytes of Flash, 256

bytes of RAM, 32 I/O lines, timer, two data pointers, three 16-bit

timer/counters, a six-vector two-level interrupt architecture, a full

duplex serial port, on-chip oscillator, and clock circuitry. In

addition, the AT89S52 is designed with static logic for operation

down to zero frequency and supports two software selectable

power saving modes. The Idle Mode stops the CPU while allowing

the RAM, timer/counters, serial port, and interrupt system to

continue functioning. The Power-down mode saves the RAM con-

tents but freezes the oscillator, disabling all other chip functions

until the next interrupt or hardware reset.

2.1.2 MICROCONTROLLER SYSTEM

In today present a lot of microcontroller manufactures appeared

almost every major electronic company produce their own

microcontroller to use into their own devices each microcontroller

type may add or improve existing features but all microcontrollers

share basic features that is microprocessor (CPU), memory and an

input-output (I/O) device.

The input components would consist of digital devices such as, switches, push buttons, pressure mats, float switches, keypads,

radio receivers etc. and analogue sensors such as light dependent

resistors, thermistors, gas sensors, pressure sensors, etc.

xix

The control unit is of course the microcontroller. The microcontroller will monitor the inputs and as a result the program

would turn outputs on and off. The microcontroller stores the

program in its memory, and executes the instructions under the

control of the clock circuit.

The output devices would be made up from LEDs, buzzers, motors, alpha numeric displays, radio transmitters, 7 segment

displays, heaters, fans etc.

The most obvious choice then for the microcontroller is how many

digital inputs, analogue inputs and outputs does the system require.

This would then specify the minimum number of inputs and

outputs (I/O) that the microcontroller must have. If analogue inputs

are used then the microcontroller must have an Analogue to Digital

(A/D) module inside.

The next consideration would be what size of program memory

storage is required. This should not be too much of a problem when

starting out, as most programs would be relatively small.

The clock frequency determines the speed at which the instructions

are executed. This is important if any lengthy calculations are

being undertaken. The higher the clock frequency the quicker the

micro will finish one task and start another.

Other considerations are the number of interrupts and timer circuits

required how much data EEPROM if any is needed.

Microcontrollers have traditionally been programmed using the

assembly language of the target device. Although the assembly

language is fast, it has several disadvantages. An assembly

program makes learning and maintaining a program written using

the assembly language difficult. Also, microcontrollers

manufactured by different firms have different assembly

languages, so the user must learn a new language with every new

microcontroller he uses.

Microcontrollers can also be programmed using a high-level

language, such as BASIC, PASCAL, or C. High-level languages

are much easier to learn than assembly languages. They also

facilitate the development of large and complex programs.

xx

A microcontroller is a very powerful tool that allows a designer to

create sophisticated input-output data manipulation under program

control. Microcontrollers are classified by the number of bits they

process Microcontrollers with 8 bits are the most popular and are

used in most microcontroller-based applications. Microcontrollers

with 16 and 32 bits are much more powerful, but are usually more

expensive and not required in most small- or medium-size general

purpose applications that call for microcontrollers.

CENTRAL PROCESSING UNIT:

As its name indicates, this is a unit which monitors and controls all

processes inside the microcontroller. It consists of several smaller

units, of which the most important are:

Instruction Decoder: is a part of electronics which recognizes

program instructions and runs other circuits on the basis of that.

The instruction set which is different for each microcontroller family expresses the abilities of this circuit.

Arithmetical Logical Unit (ALU): performs all mathematical and

logical operations upon data.

Accumulator: is a SFR closely related to the operation of ALU. It

is a kind of working desk used for storing all data upon which

some operation should be performed (addition, shift/move etc.). It

also stores results ready for use in further processing.

Status Register (PSW): One of SFRs is close to the accumulator. It

shows at any moment the status of a number stored in the accumulator (number is greater or less than zero etc.).

MEMORY UNIT

Memory, an important part of a microcontroller system, can be

classified into two types: program memory and data memory.

Program memory stores the program written by the programmer

and is usually nonvolatile (i.e., data is not lost after the power is

turned off). Data memory stores the temporary data used in a

program and is usually volatile (i.e., data is lost after the power is

turned off).

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RAM

RAM, random access memory, is a general purpose memory that

usually stores the user data in a program. RAM memory is volatile

in the sense that it cannot retain data in the absence of power (i.e.,

data is lost after the power is turned off). Most microcontrollers

have some amount of internal RAM, 256 bytes being a common

amount, although some microcontrollers have more, some less. The

AT89C52 microcontroller, for example, has 256 bytes of RAM.

Memory can usually be extended by adding external memory

chips.

ROM

ROM, read only memory, usually holds program or fixed user data.

ROM is nonvolatile. If power is removed from ROM and then

reapplied, the original data will still be there. ROM memory is

programmed during the manufacturing process, and the user cannot

change its contents. ROM memory is only useful if you have

developed a program and wish to create several thousand copies of

it.

INPUT / OUTPUT PORTS

In order that the microcontroller is of any use, it has to be

connected to additional electronics, i. e. peripherals. For that

reason, each microcontroller has one or more registers (called

"port" in this case) connected to the microcontroller pins. Why

input/output? Because you can change the pins function as you wish. simply performed by software, which means that pins function can be changed during operation. One of more important

feature of I/O pins is maximal current they can give/get. For the

most microcontrollers, current obtained from one pin is sufficient

to activate a LED or other similar low-current consumer (10-20

mA). If the microcontroller has many I/O pins, then maximal

current of one pin is lower. each I/O port is under control of

another SFR, which means that each bit of that register determines

state of the corresponding microcontroller pin. For example, by

writing logic one (1) to one bit of that control register SFR, the

appropriate port pin is automatically configured as input. It means

that voltage brought to that pin can be read as logic 0 or 1.

Otherwise, by writing zero to the SFR, the appropriate port pin is

configured as output. Its voltage (0V or 5V) corresponds to the

state of the appropriate bit of the port register.

xxii

SOME OF MICROCONTROLLER FEATURES

SUPPLY VOLTAGE

Most microcontrollers operate with the standard logic voltage of +

5V. Some microcontrollers can operate at as low as + 2.7V, and

some will tolerate + 6V without any problem. The manufacturers data sheet will have information about the allowed limits of the

power supply voltage. At89c52 microcontrollers can operate with a

power supply of + 2V to 5.5V. Usually, a voltage regulator circuit

is used to obtain the required power supply voltage when the

device is operated from a mains adapter or batteries. For example,

a 5V regulator is required if the microcontroller is operated from a

5V supply using a 9V battery.

THE CLOCK

All microcontrollers require a clock (or an oscillator) to operate,

usually provided by external timing devices connected to the

microcontroller. In most cases, these external timing devices are a

crystal plus two small capacitors. In some cases they are resonators

or an external resistor-capacitor pair. Some microcontrollers have

built-in timing circuits and do not require external timing

components. If an application is not time-sensitive, external or

internal (if available) resistor-capacitor timing components are the

best option for their simplicity and low cost. An instruction is

executed by fetching it from the memory and then decoding it. This

usually takes several clock cycles and is known as the instruction

cycle. Thus the microcontroller operates at a clock rate that is one-

quarter of the actual oscillator frequency. The 8051 series of

microcontrollers can operate with clock frequencies up to 40MHz.

TIMERS

Timers are important parts of any microcontroller. A timer is

basically a counter which is driven from either an external clock

pulse or the microcontrollers internal oscillator. A timer can be 8 bits or 16 bits wide. Data can be loaded into a timer under program

control, and the timer can be stopped or started by program control.

Most timers can be configured to generate an interrupt when they

reach a certain count (usually when they overflow). For example,

the AT89C52 microcontroller has three built-in timers.

xxiii

RESET INPUT

A reset input is used to reset a microcontroller externally. Resetting

puts the microcontroller into a known state such that the program

execution starts from address 0 of the program memory. An

external reset action is usually achieved by connecting a push-

button switch to the reset input. When the switch is pressed, the

microcontroller is reset.

INTERRUPTS

Interrupts are an important concept in microcontrollers. An

interrupt causes the microcontroller to respond to external and

internal (e.g., a timer) events very quickly. When an interrupt

occurs, the microcontroller leaves its normal flow of program

execution and jumps to a special part of the program known as the

interrupt service routine (ISR). The program code inside the ISR is

executed, and upon return from the ISR the program resumes its

normal flow of execution.

The ISR starts from a fixed address of the program memory

sometimes known as the interrupt vector address. Some

microcontrollers with multi-interrupt features have just one

interrupt vector address, while others have unique interrupt vector

addresses, one for each interrupt source. Interrupts can be nested

such that a new interrupt can suspend the execution of another

interrupt. Another important feature of multi-interrupt capability is

that different interrupt sources can be assigned different levels of

priority. The at89c52 microcontroller has 8 interrupts source.

ANALOG-TO-DIGITAL CONVERTER

An analog-to-digital converter (A/D) is used to convert an analog

signal, such as voltage, to digital form so a microcontroller can

read and process it. Some microcontrollers have built-in A/D

converters. External A/D converter can also be connected to any

type of microcontroller. A/D converters are usually 8 to 10 bits,

having 256 to 1024 quantization levels. Most 8051

microcontrollers with A/D features have multiplexed A/D

converters which provide more than one analog input channel. The

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A/D conversion process must be started by the user program and

may take several hundred microseconds to complete. A/D

converters usually generate interrupts when a conversion is

complete so the user program can read the converted data quickly.

A/D converters are especially useful in control and monitoring

applications, since most sensors (e.g., temperature sensors,

pressure sensors, force sensors, etc.) produce analog output

voltages.

Serial Input-Output

Serial communication (also called RS232 communication) enables

a microcontroller to be connected to another microcontroller or to a

PC using a serial cable. Some microcontrollers have built-in

hardware called USART (universal synchronous-asynchronous

receiver-transmitter) to implement a serial communication

interface. The user program can usually select the baud rate and

data format. If no serial input-output hardware is provided, it is

easy to develop software to implement serial data communication

using any I/O pin of a microcontroller.

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FEATURES:

1. Compatible with MCS-51 Products

2. 8K Bytes of In-System Programmable (ISP) Flash Memory Endurance: 10,000 Write/Erase Cycles

3. 4.0V to 5.5V Operating Range

4. Fully Static Operation: 0 Hz to 33 MHz

5. Three-level Program Memory Lock

6. 128 x 8-bit Internal RAM

7. 32 Programmable I/O Lines

8. Two 16-bit Timer/Counters

9. Six Interrupt Sources

10. Full Duplex UART Serial Channel

11. Low-power Idle and Power-down Modes

12. Interrupt Recovery from Power-down Mode

13. Watchdog Timer

14. Dual Data Pointer

15. Power-off Flag

16. Fast Programming Time

17. Flexible ISP Programming (Byte and Page Mode)

18. Green (Pb/Halide-free) Packaging Option

Pin Description

VCC: Supply voltage.

GND: Ground.

Port 0: Port 0 is an 8-bit open drain bi-directional I/O port. As an

output port, each pin can sink eight TTL inputs. When 1s are

written to port 0 pins, the pins can be used as high-impedance

inputs. Port 0 can also be configured to be the multiplexed low-

order address/data bus during accesses to external program and

data memory. In this mode, P0 has internal pull-ups. Port 0 also

receives the code bytes during Flash programming and outputs the

code bytes during program verification. External pull-ups are

required during program verification.

xxvi

Port 1: Port 1 is an 8-bit bi-directional I/O port with internal pull-

ups. The Port 1 output buffers can sink/source four TTL inputs.

When 1s are written to Port 1 pins, they are pulled high by the

internal pull-ups and can be used as inputs. As inputs, Port 1 pins

that are externally being pulled low will source current (IIL)

because of the internal pull-ups. Port 1 also receives the low-order

address bytes during Flash programming and verification.

Table 1

Port Pin Alternate Function

P1.6 MOSI (used for In-System Programming)

P1.7 MISO (used for In-System Programming)

P1.8 SCK (used for In-System Programming)






because of the internal pull-ups. Port 2 emits the high-order address

byte during fetches from external program memory and during

accesses to external data memory that use 16-bit addresses (MOVX

@ DPTR). In this application, Port 2 uses strong internal pull-ups

when emitting 1s. During accesses to external data memory that

use 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the

P2 Special Function Register. Port 2 also receives the high-order

address bits and some control signals during Flash programming

and verification.






because of the pull-ups.Port 3 receives some control signals for

Flash programming and verification.

xxvii

Port 3 also serves the functions of various special features of the

AT89S51, as shown in the following table.

Table 2

Port

Pin

Alternate Functions

P3.0 RXD(serial input port)

P3.1 TXD(serial output port)

P3.2 INT0 (external interrupt 0)

P3.3 INT1 (external interrupt 1)

P3.4 T0(timer0 external input)

P3.5 T1(timer 1 external input)

P3.6 WR (external data memory write strobe)

P3.7 RD (external data memory read strobe)

RST: Reset input. A high on this pin for two machine cycles while

the oscillator is running resets the device. This pin drives High for

98 oscillator periods after the Watchdog times out. The DIS-RTO

bit in SFR AUXR (address 8EH) can be used to disable this

feature. In the default state of bit DISRTO, the RESET HIGH out

feature is enabled.

ALE/PROG: Address Latch Enable (ALE) is an output pulse for

latching the low byte of the address during accesses to external

memory. This pin is also the program pulse input (PROG) during

Flash programming.ALE is emitted at a constant rate of 1/6 the

oscillator frequency and may be used for external timing or

clocking purposes. Note, however, that one ALE pulse is skipped

during each access to external data memory. If desired, ALE

operation can be disabled by setting bit 0 of SFR location 8EH.

With the bit set, ALE is active only during a MOVX or MOVC

instruction. Otherwise, the pin is weakly pulled high

xxviii

PSEN: Program Store Enable (PSEN) is the read strobe to external

program memory. When the AT89S51 is executing code from

external program memory, PSEN is activated twice each machine

cycle, except that two PSEN activations are skipped during each

access to external data memory. 4.10 EA/VPP External Access

Enable. EA must be strapped to GND in order to enable the device

to fetch code from external program memory locations starting at

0000H up to FFFFH. Note, however, that if lock bit 1 is

programmed, EA will be internally latched on reset.

EA/VPP: External Access Enable. EA must be strapped to GND in

order to enable the device to fetch code from external program

memory locations starting at 0000H up to FFFFH. Note, however,

that if lock bit 1 is programmed, EA will be internally latched on

reset.

EA should be strapped to VCC for internal program executions.

This pin also receives the 12-volt programming enable voltage

(VPP) during Flash programming.

XTAL1: Input to the inverting oscillator amplifier and input to the

internal clock operating circuit.

XTAL2: Output from the inverting oscillator amplifier.

xxix

2.4 VOLTAGE REGULATOR IC(7805)

Fig. 5: Voltage Regulator IC (7805)

The 7805 is from a family of self-contained fixed linear voltage

regulator integrated circuit. The 78xx family is commonly used in

electronic circuits requiring a regulated power supply due to their

ease-of-use and low cost. For ICs within the family, the xx is

replaced with two digits, indicating the output voltage (here the

7805 has a 5 volt output, while the 7812 produces 12 volts). The

78xx lines are positive voltage regulators: they produce a voltage

that is positive relative to a common ground. There is a related line

of 79xx devices which are complementary negative voltage

regulators. 78xx and 79xx ICs can be used in combination to

provide positive and negative supply voltages in the same

circuit.78xx series ICs do not require additional components to

provide a constant, regulated source of power, making them easy to

use, as well as economical and efficient uses of space. Other

voltage regulators may require additional components to set the

output voltage level, or to assist in the regulation process. Some

other designs (such as a switched mode power supply) may need

substantial engineering expertise to implement.

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2.5 CAPACITORS

Fig. 6: CAPACITOR 10 F

Capacitor is an electronics/electrical device that can store energy in

the form of electrical field between a pair of conductor (called

plates).

The process of storing energy in the capacitor is called charging equally on both plates.

This device is used as filter; means to filter a low frequency signal

or high frequency signal depend on the configuration.

The capacitor capacitance (c) is a measure of the amount of charge

stored on each plate for a given potential difference or voltage (v)

which appears on the plate of the capacitors.

C=q/v

The SI unit of capacitance is farad, usually SI units is expressed in

micro-farad (f), nano-farad (nf), pico-farad.

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2.6 11.0592 MHz CRYSTAL OSCILLATOR

Fig. 7: 11.0592 MHz CRYSTAL OSCILLATOR

A crystal oscillator is an electronic oscillator circuit that uses the

mechanical resonance of vibrating crystal of piezo-electric material to

create an electrical signal with a very precise frequency. This

frequency is commonly used to keep track of time (as in quartz

wristwatches), to provide a stable clock signal for digital integrated

circuits, and to stabilize frequencies for radio

transmitters and receivers. The most common type of piezoelectric

resonator used is the quartz crystal, so oscillator circuits incorporating

them became known as crystal oscillators, but other piezoelectric

materials including polycrystalline ceramics are used in similar

circuits.

xxxii

2.7 PCB:

Fig. 8: PCB

By generalized, we mean that we are free to make any kind of circuit as

we wish using this PCB. This makes it useful for small scale production

of electronic devices and also for testing out new ideas before production.

Like a normal PCB, it provides a means to hold all of our components

together in one place as a single unit. But it does not provide the

connection between components as provided by a specific purpose PCB

using tracks. So the users have to make the connections their selves using

wires and solder joints. They have holes all over it in a grid like pattern

unlike a specific purpose PCB which only have holes where required. So

in a general purpose PCB, you can place components anywhere you like.

The image below shows the back side of a general purpose PCB.

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2.8 SINGLE POLE ANTENNA

Fig.9 SINGLE POLE ANTENNA

A single/monopole antenna is a class of radio antenna consisting

of a straight rod-shaped conductor, often mounted perpendicularly

over some type of conductive surface, called a ground plane. The

driving signal from the transmitter is applied, or for receiving

antennas the output signal to the receiver is taken, between the

lower end of the monopole and the ground plane. One side of the

antenna feed line is attached to the lower end of the monopole, and

the other side is attached to the ground plane, which is often the

Earth. This contrasts with a dipole antenna which consists of two

identical rod conductors, with the signal from the transmitter

applied between the two halves of the antenna.The monopole is

a resonant antenna; the rod functions as a resonator for radio

waves, with oscillating standing waves of voltage and current

along its length. Therefore the length of the antenna is determined

by the wavelength of the radio waves it is used with.

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2.9 LEDs 3mm

Fig. 10 : LEDs 3mm

A light-emitting diode (LED) is a two-lead semiconductor light

source. It is a basic pn-junction diode, which emits light when

activated. When a fitting voltage is applied to the

leads, electrons are able to recombine with electron holes within

the device, releasing energy in the form of photons. This effect is

called electroluminescence, and the color of the light

(corresponding to the energy of the photon) is determined by the

energy band gap of the semiconductor.

An LED is often small in area (less than 1 mm2) and integrated

optical components may be used to shape its radiation pattern.

The earliest LEDs emitted low-intensity infrared light. Infrared

LEDs are still frequently used as transmitting elements in remote-

control circuits,such as those in remote controls for a wide variety

of consumer electronics. The first visible-light LEDs were also of

low intensity, and limited to red. Modern LEDs are available

across the visible, ultraviolet and infrared wavelengths, with very

high brightness.

xxxv

2.10 BATTERY 12V 3.5 Amp

Fig .11 : BATTERY

An electric battery is a device consisting of one or more

electrochemical cells that convert stored chemical energy into

electrical energy.Each cell contains a positive terminal, or cathode,

and a negative terminal, or anode. Electrolytes allow ions to move

between the electrodes and terminals,which allows current to flow

out of the battery to perform work.

Primary (single-use or "disposable") batteries are used once and

discarded; the electrode materials are irreversibly changed during

discharge. Common examples are the alkaline battery used

for flashlights and a multitude of portable devices.

Secondary(rechargeable batteries) can be discharged and recharged

multiple times; the original composition of the electrodes can be

restored by reverse current. Examples include the lead-acid

batteries used in vehicles and lithium ion batteries used for portable

electronics.

Batteries come in many shapes and sizes, from miniature cells used

to power hearing aids and wristwatches to battery banks the size of

rooms that provide standby power for telephone exchanges and

computer data centers.

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2.11 LM324 Comparator IC

Fig.12 :LM324 op-amp

ANALOG TO DIGITAL CONVERTERS

Fig.13 : LM 324 IC Pin Configration

xxxvii

As we all know that in the world of electronics all the

microcontrollers and microprocessors works on DIGITAL

SIGNAL, but from the sources like battery we get a ANALOG

SIGNAL. So in embedded systems it is mandatory to convert the

analog signal into digital signal.So for converting the analog signal

into digital signal we use operational amplifiers(OP-AMP). We use

operational amplifiers as a voltage comparator. We fix a voltage at

negative input with the help of variable resistor of 10k ohm and at

input we give our analog signal. If the analog signal is greater than

the fix voltage at negative input then we get 1 in output(means

+5V) and if the analog signal voltage is less than the voltage at

negative input then we get 0 at output(means 0V).We uses LM324

IC for ADC.

Fig.14: LM324 Comparator IC

This is the schematic for NON-INVERTING configuration. Take

the outputs from output pins. Give your analogy input signal to pin

3, 5, 10, and 12. For INVERTING configurations connect the

variable resistors and negative inputs and gives an analog input at

positive terminal.

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Features:

o Internally frequency compensated for unity gain

o Large DC voltage gain 100 dB

o Wide bandwidth 1 MHz

o Wide power supply range: Single supply 3V to 32V

o Essentially independent of supply voltage

o Differential input voltage range equal to the power supply voltage

o Large output voltage swing 0V to V+ 1.5V

Potential dividers of LM323 are connected to the inverting and non

inverting inputs of the op-amp to give some voltage at these

terminals. Supply voltage is given to +V and V is connected to ground. The output of this comparator will be logic high if the non-

inverting terminal input is greater than the inverting terminal input

of the comparator. When the inverting input is more than the non-

inverting then logic low (0) will be the output.

Working of LM324:

o When the power is applied to non-inverting terminal which is less

than the inverting voltage of op-amp then the output becomes zero

which means there is no current flow. Because we already know

that when + > = 1. Here the + sign indicates non-inverting terminal and -sign indicates the inverting terminal.

o If the non-inverting voltage is greater than the inverting voltage

then the output will be high.

o In this output of LM324 is internally connected to some resistance

and it has some arrangement inside the IC, which makes a lot of

difference to other comparators.

o It is internally pulled-up, so no need of any resistor connection

from the supply.

xxxix

SOLDERING

Soldering is the process of joining of two metals using an alloy

solder consisting of Tin and Lead (Sn-Pb). Tin determines the

melting whereas the Lead is used to reduce the cost. After the PCB

fabrication is done, the various components are arranged at proper

locations on the PCB and then the soldering is done. All liquids

consist of particles which attract each other. The surface is always

trying to shrink and this is because of surface tension. The

principle behind soldering is that when liquid particles are brought

in contact with the walls of the solid surface, it may happen that the

solid attracts the liquid surface. This property is called adhesive

property

Care must be taken that the melting point of solder is below that of

the metal so that its surface is melted without melting without the

metal.

xl

NEED FOR FLUX

During the soldering process the flu for improving the degree of

melting. The basic functions of flux are mentioned x acts as a

medium below:

1. Removes oxide from the surface.

2. Assists the transfer of heat from the source to the joining and

provides a liquid cover including air gap.

3. Removal of residue after the completion of the soldering

operation.

xli

2.12 RESISTORS:

Fig.15: RESISTOR CODING

A resistor is a passive two-terminal electrical component that

implements electrical resistance as a circuit element. Resistors act

to reduce current flow, and, at the same time, act to lower voltage

levels within circuits. In electronic circuits resistors are used to

limit current flow, to adjust signal levels, bias active elements,

terminate transmission lines among other uses. High-power

resistors that can dissipate many watts of electrical power as heat

may be used as part of motor controls, in power distribution

systems, or as test loads for generators. Fixed resistors have

resistances that only change slightly with temperature, time or

operating voltage. Variable resistors can be used to adjust circuit

elements (such as a volume control or a lamp dimmer), or as

sensing devices for heat, light, humidity, force, or chemical

activity.

xlii

2.13 ENCODER

HT12E is a 212

series encoder IC (Integrated Circuit) for remote

control applications. It is commonly used for radio frequency (RF)

applications. By using the paired HT12E encoder

and HT12D decoder we can easily transmit and receive 12 bits of

parallel data serially. HT12E simply converts 12 bit parallel data in

to serial output which can be transmitted through a RF transmitter.

These 12 bit parallel data is divided in to 8 address bits and 4 data

bits. By using these address pins we can provide 8 bit security code

for data transmission and multiple receivers may be addressed

using the same transmitter.We use HT12E IC for encoding the

signal. This is a 4 bit encoder which encodes the 4 bits into a signal

bit and transmit it via RF transmitter.

Fig 16-HT12E Encoder IC Pin diagram

The pin Description of the IC HT12E was pretty simple to

understand with total of 18 pins.

VDD and VSS: Positive and negative power supply pins.

OSC1 and OSC2: Input and output pins of the internal oscillator

present inside the IC.

TE: This pin is used for enabling the transmission, a low signal in

this pin will enable the transmission of data bits.

A0 A7: These are the input address pins used for secured

transmission of this data. These pins can be connected to VSS or

left open.

AD0 AD3: This pins are feeding data into the the IC. These pins

may be connected to VSS or may be left open for sending LOW or

HIGH bits to the encoder.

DOUT: The output of the encoder can be obtained through this

pin and can be connected to the RF transmitter

xliii

2.14 DECODER:-

HT12D is a decoder integrated circuit that belongs to

212

series of decoders. This series of decoders are mainly used

for remote control system applications, like burglar alarm, car

door controller, security system etc. It is mainly provided to

interface RF and infrared circuits. They are paired with

212

series of encoders. The chosen pair of encoder/decoder

should have same number of addresses and data format.

In simple terms, HT12D converts the serial input into parallel

outputs. It decodes the serial addresses and data received by,

say, an RF receiver, into parallel data and sends them to output

data pins. The serial input data is compared with the local

addresses three times continuously. The input data code is

decoded when no error or unmatched codes are found. A valid

transmission in indicated by a high signal at VT pin.

We use HT12D IC for .decoding the signal. This is a 4 bit

decoder which decodes the signal bit into 4 bits and it receive

the single bit via RF receiver.

Fig-17 HT12D Decoder IC Pin diagram

Address line A0-A7 must have the same configuration as in

encoder. Otherwise it will not work.

D0-D3 are data output.

Input pin is the single bit input from RF receiver.

We connect resistance of 51K ohm to osc1 and osc2 for

proper oscillation.

xliv

2.15 VELOSTAT:

Velostat is a packaging material made of a polymeric foil

(polyolefines) impregnated with carbon black to make

it electrically conductive. It is used for the protection of items or

devices that are susceptible to damage from electrostatic

discharge It was developed by Custom Materials, now part of 3M.

Due to its properties of changing its resistance with either flexing

or pressure it is becoming popular with hobbyists for making

inexpensive sensors for microcontroller experiments.

Fig 18 Velostat

Features

Dimensions: 11" x 11" (280mm x 280mm)

8 mil / 0.2mm thick

Weight: 18.66g

Temperature Limits : -45C to 65C (-50F to 150F)

Heat Sealable : Yes

Volume Resistivity :

xlv

2.16 SWITCH

The most familiar form of switch is a manually

operated electromechanical device with one or more sets

of electrical contacts, which are connected to external circuits. A

switch may be directly manipulated by a human as a control signal

to a system, such as a computer keyboard button, or to control

power flow in a circuit, such as a light switch.

Fig 19-Switch

Automatically operated switches can be used to control the motions

of machines, for example, to indicate that a garage door has

reached its full open position or that a machine tool is in a position

to accept another work piece. Switches may be operated by process

variables such as pressure, temperature, flow, current, voltage, and

force, acting as sensors in a process and used to automatically

control a system. Large switches may be remotely operated by a

motor drive mechanism. Some switches are used to isolate electric

power from a system, providing a visible point of isolation that can

be padlocked if necessary to prevent accidental operation of a

machine during maintenance, or to prevent electric shock.

xlvi

2.17 Diode

In electronics, a diode is a two-terminal electronic component with

asymmetric conductance; it has low (ideally

zero) resistance to current in one direction, and high

(ideally infinite) resistance in the other. A semiconductor diode,

the most common type today, is a crystalline piece

of semiconductor material with a pn junction connected to two electrical terminals.

[5] A vacuum tube diode has two electrodes,

a plate(anode) and a heated cathode.Most diodes are made

of silicon, but other semiconductors such

asselenium or germanium are sometimes used

Fig 20. Diode

The most common function of a diode is to allow an electric

current to pass in one direction (called the

diode's forward direction), while blocking current in the opposite

direction (the reverse direction).

Semiconductor diodes begin conducting electricity only if a certain

threshold voltage or cut-in voltage is present in the forward

direction (a state in which the diode is said to be forward-

biased).For example, diodes are used to regulate voltage (Zener

diodes), to protect circuits from high voltage surges (avalanche

diodes), to electronically tune radio and TV receivers (varactor

diodes), to generate radio-frequency oscillations (tunnel

diodes, Gunn diodes, IMPATT diodes), and to produce light (light-

emitting diodes).

xlvii

CHAPTER 3

CIRCUIT DIAGRAM & CODING

3.1: SCHEMATIC DIAGRAM

Transmitter Circuit Diagram :-

Fig 1-Transmitter

xlviii

Receiver and Microcontroller Interfacing:

Fig.2 Reciever

xlix

3.2 Process to make Hand Glove Circuit :-

First buy a Velostat sheet. Cut the sheet in 4 sections according to your fingers length. Now sandwich a wire inside all 4 sheet.

Now connect one side of each sheet to 5V supply and another

side of each sheet to the comparator.

Now paste this circuit on a hand glove on fingers with black tap.

Now make the circuits of transmitter and receiver according to circuit diagrams.

l

Setting the variable resistors :

We mount four variable resistors on transmitter. We have to set

the range of resistors for better sensitivity. Follow the steps :-

Now check the output from hand glove from any finger

when finger not turned with help of multimeter.

Let the output is 3 volts when finger not turned.

Now turned that finger and check the output let it will be 1

volt.

Then set the variable resistor of that connection in LM324

between 3 volt and 1 volt. Let we set it on 1 volt.

Repeat the above steps for all the fingers and resistors.

Now on LM324 at positive input 1.5 volt is given ant

negative input 3 volt is coming from glove circuit so the output

will be initially high.

Now turn the finger and at negative input the voltage

becomes 1 volt which is less than 1.5 volt on positive input. So

output becomes low.

This change in output is now encoded by the encoder and

decoded by the decoder then processed from microcontroller and

drives the motors.

li

3.3 Components Required:--

1. 10K OHM VARIABLE RESISTANCE 2. 330 0HM RESISTANCE 3. 10K OHM RESISTANCE 4. 1N047DIODE 5. 33pF CAPACITOR 6. 10F CAPACITOR 7. 100F CAPACITOR 8. 1000F CAPACITOR 9. 11.0592 MHZ CRYSTAL OSCILLATOR 10. RED LED 11. GREEN LED 12. 12 VOLT BATTERY UPTO 1.5 AMP 13. 89c51 MICROCONTROLLER 14. PUSH BUTTON 15. L293D IC 16. LM324 IC 17. HT12E IC 18. HT12D IC 19. RF TRANSRECEIVER MODULE 20. 100 RPM 12V DC MOTORS 21. 7805 IC 22. HAND GLOVE RIGHT HAND 23. VELOSTAT MATERIAL SHEET 24. BLACK TAP ROLL 25. GENRAL PURPOSE PCB 26. MALE AND FEMALE CONNECTORS LINES 27. CONNECTING WIRES.

lii

3.4 CODE FOR RECEIVER MICROCONTROLLER:

#include

void main()

{

P1=0x0f;

P2=0x00;

while(1)

{

if(P1==0x07)

{

P2=0x0a;

}

else if(P1==0x0b)

{

P2=0x02;

}

else if(P1==0x0d)

{

P2=0x05;

}

else if(P1==0x0e)

{

P2=0x04;

}

else

{

P2=0x00;

}}}

liii

CHAPTER 4

ADVANTAGES

Quality: Robotic arms have the capacity to dramatically improve product

quality. Applications are performed with precision and high

repeatability every time. This level of consistency can be hard to

achieve any other way.

Production: With robotic arms, throughput speeds increase, which directly

impacts production. Because it has the ability to work at a constant

speed without pausing for breaks, sleep, vacations, it has the

potential to produce more than a human worker.

Safety: Robotic arms increase workplace safety. Workers are moved to

supervisory roles where they no longer have to perform dangerous

applications in hazardous settings.

Savings: Improved worker safety leads to financial savings. There are fewer

healthcare and insurance concerns for employers. Automated

robotic arms also offer untiring performance which saves valuable

time. Their movements are always exact, minimizing material

waste.

liv

A medical benefit:

The benefits are improved accuracy, efficiency, and the quality of

patient care. "NeuroArm" uses miniaturized tools such as laser

scalpels with pinpoint accuracy and it can also perform soft tissue

manipulation, needle insertion, suturing, and cauterization.

IncludeS servicing nuclear power stations, welding and repairing pipelines on the ocean floor, remote servicing of utility power

lines, or cleaning up radioactive and other hazardous wastes.

Advanced Robotic Arm

Advanced robotic arms that are designed like the human hand itself can easily controlled using hand gestures only.

The ARM controller will wear the sensor gloves and the robotic arm will MIMIC the movement of the controller.

Advanced robotic arms like these can perform complex and hazardous tasks with ease.

Also applicable in Field of Defence & Research.

lv

CHAPTER 5

FUTURE USE

In future we can design a wireless robot which can sense hand

gesture by using wireless

technologies.

It can be used in military applications as a robotic vehicle which

can be handled by a soldier to

avoid casualties.

Our system has shown the possibility that interaction with

machines through gestures is a feasible task and the set of detected

gestures could be enhanced to more commands by implementing a

more complex model of a advanced vehicle for not only in limited

space while also in broader

area as in the roads too .

In the future, service robot executing many different tasks from

private movement to a full-fledged advanced automotive that can

make disabled to able in all sense.

lvi

CHAPTER 6

CONCLUSION

Robotic arms are becoming increasingly popular in several fields

such as industrial automation, medical applications such as remote

key-hole surgeries and military applications because of its

preciseness and accuracy. In certain critical applications such as

performing surgeries or diffusing a bomb, robotic arms could be of

tremendous use to save lives. In such applications, controlling the

robotic arm precisely is of utmost importance.

The objectives of this project has been achieved which was

developing the hardware and software for a gesture based robotic

arm. From observation that has been made, it clearly shows that its

movement is precise, accurate, and is easy to control and user

friendly to use. The robotic arm has been developed successfully as

the movement of the robot can be controlled precisely. This robotic

arm control method is expected to overcome the problem such as

placing or picking object that away from the user, pick and place

hazardous object in a very fast and easy manner.

lvii

GLIMPSES OF PROJECT

TRANSMITER RECEIVER

lviii

REFERENCES

Gesture Controlled Robot PPT

Gesture Controlled Tank Toy User Guide

Embedded Systems Guide (2002)

Robotic Gesture Recognition (1997) by Jochen Triesch and Christoph Von Der Malsburg

Real-Time Robotic Hand Control Using Hand Gestures by Jagdish Lal Raheja, Radhey

Shyam, G. Arun Rajsekhar and P. Bhanu Prasad

Hand Gesture Controlled Robot by Bhosale Prasad S., Bunage Yogesh B. and Shinde

Swapnil V.

< http://www.wisegeek.com/what-is-a-gear-motor.htm>

< http://en.wikipedia.org/wiki/DC_motor>

gesture controlled robot

Documents

project development

project report

challenging project

wireless gesture

acknowledgement development

vishnu upadhyay

prateek gupta

harendra rajput