HAND GESTURE CONTROLLED ROBOTIC ARM USING ANDROID

SUBMITTED BY: GUIDED BY:PARVEZ HAFEEZ SOMESH CHATURVEDIMONU NAGAR ASST. PROFESSORMANOJ MAHAWAR EEE DEPT.B.TECH , ELECTRICAL ENGG.VI SEM

CONTENTS• INTRODUCTION• METHODOLOGY

• ROBOTIC GLOVE• ROBOTIC ARM

• WORKING PRINCIPAL• TECHNICAL REQUIREMENT

• ARDUINO UNO• BLUETOOTH MODULE (HC-05)• FLEX SENSOR• SERVO MOTOR • DC MOTORS• ANDROID BASED MOBILE• L293D

• CIRCUIT DIAGRAM• RESULTS• ADVANTAGES AND LIMITATIONS• CONCLUSION• FUTURE SCOPE• REFERENCES

INTRODUCTION• ROBOTICS IS A SPECIAL ENGINEERING SCIENCE WHICH DEALS WITH DESIGNING, MODELLING,

CONTROLLING AND ROBOTS' UTILIZATION. NOWADAYS ROBOTS ACCOMPANY PEOPLE IN EVERYDAY LIFE AND TAKE OVER THEIR DAILY ROUTINE PROCEDURES.

• THE PAPER FOCUSES ON DESIGN AND IMPLEMENT A ROBOTIC ARM AND CONTROL IT USING A HUMAN ARM BY MEANS OF HAPTICS TECHNOLOGY. HAPTICS IS ONE OF THE GROWING AREAS IN HUMAN COMPUTER COLLABORATION WHICH DEALS WITH SENSORY INTERACTION WITH COMPUTERS.

• RATHER USING TRADITIONAL REMOTE OR KEYBOARD ITS BETTER TO CONTROL A ROBOT WITH THE HELP OF OUR HAND GESTURE. BECAUSE HAND GESTURE IS VERY NATURAL WAY OF COMMUNICATION IN OUR HUMAN HISTORY.

• THERE ARE MANY HAND GESTURE TECHNOLOGIES AVAILABLE NOWADAYS BUT ONE OF THE MOST POPULAR FORM IS ACCELEROMETER BASED HAND GESTURE TECHNOLOGY. THE ACCELEROMETER CAN MEASURE THE STATIC ACCELERATION OF GRAVITY IN TILT SENSING APPLICATION, AS WELL AS DYNAMIC ACCELERATION DUE TO MOTION, SHOCK OR VIBRATION.

• OUR PROJECT IS A MODIFIED VERSION AND THE INEXPENSIVE ONE. BEFORE WE STARTED THE PROJECT WE STUDIED ABOUT A LOT OF HAND GESTURE CONTROLLED ARM AND UNDERSTOOD THE OPERATION OF THEIR PROJECT.

METHODOLOGY• ROBOTIC GLOVEROBOTIC GLOVE HOUSES THE CIRCUITRY WHICH CONTROLS THE ROBOTIC ARM. IT CONSIST OF FLEX SENSOR AND AN ANDROID PHONE WHICH TRANSFER THE DATA OF ACCELEROMETER VIA BLUETOOTH WHERE THE VALUES ARE COMBINED AND PROCESSED SIMULTANEOUSLY. AT THE SAME TIME THE FLEX SENSOR IS DOING ITS JOB BY SENDING THE DEGREE OF MOVEMENT OF THE FINGER TO ARDUINO. • ROBOTIC ARMIT CONSISTS OF TOTAL 3 MOTORS. A MICRO CONTROLLER ARDUINO UNO WHICH INPUTS THE VALUES FROM THE ANDROID AND FLEX SENSOR AND SENDS THE DATA ACCORDINGLY TO THE SERVO AND DC MOTORS. WHEN THE GLOVE IS TILTED IN THE FORWARD DIRECTION OR ANY SUCH DIRECTION, THE ARM SPONTANEOUSLY FOLLOWS SUIT. THE GRABBER FUNCTIONS WITH THE USE OF FLEX SENSORS ATTACHED TO CENTRE MOST FINGER.

WORKING PRINCIPAL

• THIS WAS A PROJECT BASED ON HAND GESTURE TECHNOLOGY IN ORDER TO CONTROL A ROBOTIC CAR WIRELESSLY

accelerometer bluetooth Arduino L293d motors

Flex sensor arduino Servo

motor

TECHNICAL REQUIREMENTS

• ARDUINO UNOTHE UNO IS A MICROCONTROLLER BOARD BASED ON THE ATMEGA328P. IT HAS 14 DIGITAL INPUT/OUTPUT PINS (OF WHICH 6 CAN BE USED AS PWM OUTPUTS), 6 ANALOG INPUTS, A 16 MHZ QUARTZ CRYSTAL, A USB CONNECTION, A POWER JACK, AN ICSP HEADER AND A RESET BUTTON. IT CONTAINS EVERYTHING NEEDED TO SUPPORT THE MICROCONTROLLER; SIMPLY CONNECT IT TO A COMPUTER WITH A USB CABLE OR POWER IT WITH A AC-TO-DC ADAPTER OR BATTERY TO GET STARTED.

• BLUETOOTH MODULEBLUETOOTH IS A WIRELESS TECHNOLOGY STANDARD FOR EXCHANGING DATA OVER SHORT DISTANCES (USING SHORT-WAVELENGTH UHF RADIO WAVES FROM 2.4 TO 2.485 GHZ) FROM FIXED AND MOBILE DEVICES, AND BUILDING PERSONAL AREA NETWORKS (PANS). RANGE IS APPROXIMATELY 10 METERS (30 FEET).• FLEX SENSORFLEX IS BASICALLY A STRIP OF CARBON MATERIAL HAVING METAL PADS INSIDE IT. AS THE SENSOR IS FLEXED, THE RESISTANCE ACROSS THE SENSOR INCREASES. THE RESISTANCE OF THE FLEX SENSOR CHANGES WHEN THE METAL PADS ARE ON THE OUTSIDE OF THE BENDTHIS RESISTANCE WAS CALIBRATED AND CONVERTED INTO ANGLES AND FURTHER USED FOR THE FOR THE GRABBING PURPOSE IN THE ROBOTIC ARM.

• SERVO MOTORA SERVOMOTOR IS A ROTARY ACTUATOR THAT ALLOWS FOR PRECISE CONTROL OF ANGULAR OR LINEAR POSITION, VELOCITY AND ACCELERATION. IT CONSISTS OF A SUITABLE MOTOR COUPLED TO A SENSOR FOR POSITION FEEDBACK. THESE ARE USED IN INDUSTRIAL APPLICATIONS, ROBOTICS, IN-LINE MANUFACTURING, PHARMACEUTICS AND FOOD SERVICES. • DC MOTORSGEARED DC MOTORS CAN BE DEFINED AS AN EXTENSION OF DC MOTOR A GEARED DC MOTOR HAS A GEAR ASSEMBLY ATTACHED TO THE MOTOR. THE SPEED OF MOTOR IS COUNTED IN TERMS OF ROTATIONS OF THE SHAFT PER MINUTE AND IS TERMED AS RPM .THE GEAR ASSEMBLY HELPS IN INCREASING THE TORQUE AND REDUCING THE SPEED.

• ANDROID PHONEHERE WE USED THE SIMPLE ANDROID BASED PHONE.

• L293DL293D IS A MOTOR DRIVER INTEGRATED CIRCUIT WHICH IS USED TO DRIVE DC MOTORS ROTATING IN EITHER DIRECTION. IT IS A 16-PIN IC WHICH CAN CONTROL A SET OF TWO DC MOTORS SIMULTANEOUSLY. THE L293D USES 5V FOR ITS OWN POWER AND EXTERNAL POWER SOURCE IS NEEDED TO DRIVE THE MOTORS, WHICH CAN BE UP TO 36V AND DRAW UP TO 600MA.

CIRCUIT DIAGRAM

RESULTS

• HARDWARE OF THIS PROJECT WAS SUCCESSFULLY EXECUTED UNDER DUE GUIDANCE OF OUR IN-CHARGE AND SHOWED SUCCESSFUL RESULTS. THE RESULTS OBTAINED FROM WORKING OF THIS PROJECT HAVE SHOWN THAT THE PROJECT PERFORMANCE IS QUITE RELIABLE AND EFFICIENT. THE ROBOT MOVEMENT IS CHECKED AND CONTROLLED BY A HAPTICS GLOVE WEAR BY USER THAT TRANSMITS DATA TO THE TRANSCEIVER MODULE ATTACHED TO THE ROBOT.

ADVANTAGES AND LIMITATIONS• ADVANTAGES

• IT ALLOWS INTERACTIVITY IN REAL-TIME WITH VIRTUAL OBJECTS.• MACHINES DON'T GET TIRED. THEY DON'T CLOSE THEIR EYES. THEY DON'T HIDE UNDER

TREES WHEN IT RAINS AND THEY DON'T TALK TO THEIR BUDDIES. A HUMAN'S ATTENTION TO DETAIL ON GUARD DUTY DROPS DRAMATICALLY IN THE FIRST 30 MINUTES. MACHINES KNOW NO FEAR.

• CAN BE APPLIED IN REMOTE RURAL AREAS SO AS TO CARRY OUT OPERATIONS.• CAN BE USED IN MILITARY AREAS WHERE HIGHLY SKILLED DOCTORS MAY NOT BE PRESENT.• IN APPLICATION LIKE BOMB DISPOSAL ,THE HUMAN LIFE IS NOT AT RISK.

• LIMITATIONS• ROBOTS ARE NOT AS SUITABLE FOR MAKING COMPLICATED DECISIONS.• DEBUGGING ISSUES OF THESE ARE COMPLICATED SINCE THEY INVOLVE REAL-TIME DATA

ANALYSIS.

CONCLUSION

• THE PROPOSED SYSTEM IS UTILIZED TO RECOGNIZE THE HUMAN MOTION. LARGE POTENTIAL FOR APPLICATIONS IN CRITICAL FIELDS AS WELL AS FOR LEISURELY PLEASURES. HAPTIC DEVICES MUST BE SMALLER SO THAT THEY ARE LIGHTER, SIMPLER AND EASIER TO USE HAPTIC TECHNOLOGY ALLOWS INTERACTIVITY IN REAL-TIME WITH VIRTUAL OBJECTS.

FUTURE SCOPE

• RESEARCH IS GOING ON TO USE BRAIN SIGNALS TO CONTROL THE ROBOTIC ARM. THIS, IF ACHIEVED WILL BE OF GREAT HELP TO THE PHYSICALLY HANDICAPPED. CURRENTLY UNDER RESEARCH IS THE CLOTHING RETAIL INDUSTRY WHICH WILL HELP THE USERS TO FEEL THE TEXTURE OF THE CLOTHES ON THE INTERNET.

REFERENCES

• VIPUL J. GOHIL, DR. S D. BHAGWAT, “ROBOTICS ARM CONTROL USING HAPTIC TECHNOLOGY , INTERNATIONAL JOURNAL OF LATEST RESEARCH IN SCIENCE AND TECHNOLOGY ISSN ONLINE):2278-5299 VOLUME 2,ISSUE 2 :PAGE NO.98-102 , MARCH - APRIL (2013).

• MIR GULAM MOHIN UDDIN, MD.ABU BAKKAR CHIDDIK, TANBIR BAKTH NABIL, EMAD UDDIN AHMED, “DESIGN AND IMPLEMENTATION OF ROBOTIC VEHICLE CAN BE CONTROLLED USING HAND GESTURE”, ISSN (ONLINE): 2347-3878 VOLUME 3 ISSUE 3, MARCH 2015 .

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