hand movement controlled robotic vehicle

A

Project Report

ON

( HAND MOVEMENT CONTROLLED ROBOTIC VEHICle ) Submitted in partial fulfillment for award of Bachelor’s degree in

ELECTRICAL ENGINEERING

SUPERVISED BY:- SUBMITTED BY :-

MR. SABIR ALI MAYANK SANKHLA

SESSION 2013 – 2017 DEPARTMENT OF ELECTRICAL ENGINEERING, MARUDHAR ENGINEERING COLLEGE,

BIKANER (RAJSTHAN)

FINAL APPROVAL

This is to certify that we have read the project title submitted by Mayank Sankhla, Himanshu

swami, Chandrapraksh Prajapat and Mohd. Shahid as mentioned on the title page. It is our

judgment that this project is of standard to warrant its acceptance by Marudhar Engineering

College, Bikaner, Rajsthan-334001, for the degree of B.tech (EE). Examination Committee:

1. Project Supervisor: _____________________

Mr. Sabir Ali

Lecturer Department of Electrical Engineering

Marudhar Engineering College, Bikaner 2. Head of Department of Electrical Engineering: _____________________

Mr. Javed Khan Bhutto

Principle

Marudhar Engineering college, Bikaner

(I)

STUDENT’S DECLARATION

I declare that this project entitled “HAND MOVEMENT CONTROLLED ROBOTIC

VEHICLE”, submitted as requirement for the award of B.TECH (EE) degree, does not

contain any material previously submitted for a degree in any university; and that to the

best of my knowledge it does not contain any material previously published or written by

another person except where due reference is

made in the text.

………………….. (…………………) SIGNATURE__________________

Mayank Sankhla (…………………) SIGNATURE__________________

………………… ( ………………) SIGNATURE__________________

……………………………. (………………) SIGNATURE________________ __

PROJECT REPORT ON HAND MOVEMENT CONTROLLED ROBOTIC VEHICAL

ACKNOWLEDGEMENT

We hereby certify that the work which is being presented in the report entitled “Hand Movement Controlled Robotic Vehicle” by Mayank Sankhla in partial fulfillment of requirements for the award of degree of B.Tech(4rd year, Electrical Engg) submitted in the Department of Electrical Engg. at Marudhar engg. College, Bikaner is an authentic record of our own carried out during a period from Dec 26, 2016 to April 15, 2017 under the supervision of Mr. Sabir Ali.

(III)

ABSTRACT

MARUDHAR ENGINEERING COLLEGE, BIKANER(RAJ)


Hand movement controlled robotic vehicle which can be controlled by

simple gestures. The user just needs to wear a gesture device which

includes a sensor. The sensor will record the movement of hand in a

specific direction which will result in the movement of the robot in the

respective direction. The robot and the Gesture device are connected

wirelessly via radio waves. The wireless communication enables the user

to interact with the robot in a more friendly way.

(IV)



TABLE OF CONTENTS

CHAPTER 1: INTRODCUTION ........................................................................ 1 1.1 Robot ................................................................................................................. 1 1.2 Human Machine Interaction .............................................................................. 1 1.2 Gesture .............................................................................................................. 2 1.1 Motivation For Project ...................................................................................... 2 1.2 Objective Of Project ......................................................................................... 2

CHAPTER 2: GESTURE CONTROLLED ROBOT ......................................... 3

2.1 Gesture Controlled Robot ................................................................................. 3 2.2 Applications ...................................................................................................... 4

CHAPTER 3: LITERATURE REVIEW ............................................................. 5 3.1 Accelerometer (ADXL335) ............................................................................... 7 3.2 Comparator IC (LM324) .................................................................................... 8 3.3 Encoder IC (PT2262) ....................................................................................... 10 3.4 RF Module (Rx/Tx) ......................................................................................... 12 3.5 Decoder IC (PT2272) ..................................................................................... 14 3.6 Microcontroller (AT89C51) ........................................................................... 15 3.7 Motor Driver IC (L293D) ............................................................................... 17 3.8 DC Motors ........................................................................................................ 19 3.8.1 DC Gear Motor ............................................................................................. 20

CHAPTER 4: IMPLEMENTATION ................................................................. 21 4.1 Simulation ........................................................................................................ 26

(V)



CHAPTER 5: CONCLUSION, LIMITATIONS AND FUTURE WORK ..... 27 5.1 Conclusion ........................................................................................................ 27 5.2 Limitations and Future Work ........................................................................... 33

CHAPTER 6: FEASIBILITY OF THE PROJECT.......................................... 34 6.1 Software ........................................................................................................... 34 6.2 Hardware .......................................................................................................... 34 6.1 Economic .......................................................................................................... 34

Microcontroller Code ............................................................................................ 37

List of Figures & Tables ........................................................................................ 39

References .............................................................................................................. 41

(VI)



CHAPTER 1

INTRODUCTIONRecently, strong efforts have been carried out to develop intelligent and natural

interfaces between users and computer based systems based on human gestures. Gestures

provide an intuitive interface to both human and computer. Thus, such gesture-based

interfaces can not only substitute the common interface devices, but can also be exploited

to extend their functionality. 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. 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. 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. 1.5 OBJECTIVE OF PROJECT

Our objective is to make this device simple as well as cheap so that it could be mass

produced and can be used for a number of purposes



CHAPTER 2

GESTURE CONTROLLED ROBOT

2.1 GESTURE CONTROLLED ROBOT

Gesture recognition technologies are much younger in the world of today. At this time

there is much active research in the field and little in the way of publicly available

implementations. Several approaches have been developed for sensing gestures and

controlling robots. Glove based technique is a well-known means of recognizing hand

gestures. It utilizes a sensor attached to a glove that directly measures hand movements.

A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures

and not the old fashioned way by using buttons. The user just needs to wear a small

transmitting device on his hand which includes a sensor which is an accelerometer in our

case. Movement of the hand in a specific direction will transmit a command to the robot

which will then move in a specific direction. The transmitting device includes a

Comparator IC for assigning proper levels to the input voltages from the accelerometer

and an Encoder IC which is used to encode the four bit data and then it will be transmitted

by an RF Transmitter module. At the receiving end an RF Receiver module will receive the encoded data and decode it by using

a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to

rotate the motors in a special configuration to make the robot move in the same direction as that

of the hand.



2.2 APPLICATIONS

Through the use of gesture recognition, remote control with the wave of a hand of various

devices is possible.

Gesture controlling is very helpful for handicapped and physically disabled people to

achieve certain tasks, such as driving a vehicle.

Gestures can be used to control interactions for entertainment purposes such as gaming to

make the game player's experience more interactive or immersive.



CHAPTER 3

LITERATURE REVIEW Our gesture controlled robot works on the principle of accelerometer which records

hand movements and sends that data to the comparator which assigns proper voltage

levels to the recorded movements. That information is then transferred to a encoder which

makes it ready for RF transmission. On the receiving end, the information is received

wirelessly via RF, decoded and then passed onto the microcontroller which takes various

decisions based on the received information. These decisions are passed to the motor

driver ic which triggers the motors in different configurations to make the robot move in a

specific direction. The following block diagram helps to understand the working of the

robot:

Figure 3-1 Block Diagram



We divided our task into two parts to make the task easy and simple and to avoid

complexity and make it error free. The first is the transmitting section which includes the

following components:

Accelerometer

Comparator IC

Encoder IC

RF Transmitter Module

The second is the receiving end which comprises of following main components:

RF Receiver Module

Decoder IC

Microcontroller

Motor Driver IC

DC Geared Motors



3.1 ACCELEROMETER (ADXL335)

An Accelerometer is an electromechanical device that measures acceleration forces. These

forces may be static, like the constant force of gravity pulling at your feet, or they could be

dynamic – caused by moving or vibrating the accelerometer. It is a kind of sensor which

record acceleration and gives an analog data while moving in X,Y,Z direction or may be

X,Y direction only depending on the type of the sensor.

Figure 3-2 ADXL335 Accelerometer

PIN NO. SYMBOL FUNCTION

1 ST Sets the sensitivity of the accelerometer

2 Z Records analog data for Z direction

3 Y Records analog data for Y direction

4 X Records analog data for X direction

5 GND Connected to ground for biasing

6 VCC +3.3 volt is applied

Table 3-1 Pin description for Accelerometer



3.2 COMPARATOR IC (LM324)

The comparator ic compares the analog voltage received from the accelerometer and

compares it with a reference voltage and gives a particular high or low voltage. The

received signal is quite noisy and of various voltage levels. This ic compares those levels

and outputs in the form of 1 or

0 voltage level. This process is called signal conditioning. The figure shown below is comparator IC. The pins 1, 7, 8 and 14 are output pins. A reference

voltage is connected to the negative terminal for high output when input is high or positive

terminal for high output when input is low from the LM324 IC.

Figure 3-3 LM324 IC



3.3 ENCODER IC (PT2262)

PT2262 is a remote control encoder paired with PT2272 utilizing CMOS technology. It

encodes data and address pins into serial coded waveform suitable for RF or IR

modulation. PT2262 has a maximum of 12 bits of tri-state address pins providing up to

312 address codes; thereby, drastically reducing any code collision and unauthorized code

scanning possibilities. The pin description is shown below. It has 4 input while 1 output

pin. The address pins can also be

utilized as data pins.

Figure 3-4 PT2262 IC



3.4 RF MODULE (Rx/Tx)

Radio frequency (RF) is a rate of oscillation in the range of about 3 KHz to 300 GHz,

which corresponds to the frequency of radio waves, and the alternating currents which

carry radio signals.

Although radio frequency is a rate of oscillation, the term "radio frequency" or its

abbreviation "RF" are also used as a synonym for radio – i.e. to describe the use of

wireless communication, as opposed to communication via electric wires The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters.



3.5 DECODER IC (PT2272)

PT2272 is a remote control decoder paired with PT2262 utilizing CMOS Technology. It

has 12 bits of tri-state address pins providing a maximum of 312 address codes; thereby,

drastically reducing any code collision and unauthorized code scanning possibilities. The

input data is decoded when no error or unmatched codes are found. It has 1 input while 4

output pins. The address pins can also be utilized as data pins.

Figure 3-7 PT2272 IC



3.6 MICROCONTROLLER (AT89C51)

The processing is the most important part of the robot. Till now we get the data from the

decoder. Based on that data decisions have to be made. So here the role of microcontroller

comes up. We used a microcontroller for our robot to give it a decision capability. Our

microcontroller

is made up by Atmel and the product name is AT89C51. Port 1 works as an input port while Port 2 is working as output port for our program.

Figure 3-8 AT89C51 Microcontroller



A crystal oscillator is attached to the pins 18 and 19 of the microcontroller. The oscillator creates

an electrical signal of a very precise frequency which is used to keep track of time. Two

capacitors are connected in parallel with the oscillator to remove unwanted frequencies.

Figure 3-9 Crystal Oscillator



3.7 MOTOR DRIVER IC (L293D)

It is also known as H-Bridge or Actuator IC. Actuators are those devices which actually

gives the movement to do a task like that of a motor. In the real world there are different

types of motors available which work on different voltages. So we need a motor driver for

running them through the controller.

The output from the microcontroller is a low current signal. The motor driver amplifies

that current 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.

Figure 3-10 L293D IC Turning a motor ON and OFF requires only one switch to control a single motor in a single direction. We can reverse the direction of the motor by simply reversing 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 direction. Out of many, one of the most common



and clever design is a H-bridge circuit where transistors are arranged in a shape that

resembles the English alphabet "H".

Figure 3-11 H-Bridge

As seen in the image, the circuit has four switches A, B, C and D. Turning these switches

ON and OFF can drive a motor in different ways.

When switches A and D are on, motor rotates clockwise.

When B and C are on, the motor rotates anti-clockwise.

When A and B are on, the motor will stop.

Turning off all the switches gives the motor a free wheel drive.

Turning on A & C at the same time or B & D at the same time shorts the entire circuit. So, never try to do it.



3.8 DC MOTORS

A machine that converts DC power into mechanical power is known as a DC motor. Its

operation is based on the principle that when a current carrying conductor is placed in a

magnetic field, the conductor experiences a mechanical force.

DC motors have a revolving armature winding but non-revolving armature magnetic field

and a stationary field winding or permanent magnet. Different connections of the field and

armature.

different speed/torque regulation features. The speed of a DC motor can be

controlled by changing the voltage applied to the armature or by changing the field

current.

Figure 3-12 DC Motor



3.8.1 DC GEAR MOTOR

A geared DC Motor has a gear assembly devoted 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 dropping the speed. Using the correct

arrangement of gears in a gear motor, its speed can be reduced to any required figure. This

concept of reducing the speed with the help of gears and increasing the torque is known as

gear reduction.

Reducing the speed put out by the motor while increasing the quantity of applied torque is

a important feature of the reduction gear trains found in a gear motor. The decrease in

speed is inversely relative to the increase in torque. This association means that, in this

sort of device, if the torque were to double, the speed would decrease by one half. Small

electric motors, such as the gear motor, are able to move and stand very heavy loads

because of these reduction gear trains. While the speed and ability of larger motors is

greater, small electric motors are sufficient to bear these loads.

Figure 3-13 DC Gear Motor



CHAPTER 4:

IMPLEMENTATIONThe accelerometer records the hand movements in the X and Y directions only and

outputs constant analog voltage levels. These voltages are fed to the comparator IC which

compares it with the references voltages that we have set via variable resistors attached to

the IC. The levels that we have set are 1.7V and 1.4V. Every voltage generated by the

accelerometer is compared with these and an analog 1 or 0 signal is given out by the

comparator IC.

Fig 4-1 Input and Output of Comparator IC

This analog signal is the input to the encoder IC. The input to the encoder is parallel while

the output is a serial coded waveform which is suitable for RF transmission. This button

makes sure no data is transmitted unless we want to.

The RF transmitter modulates the input signal using Amplitude Shift Keying (ASK)

modulation. It is the form of modulation that represents digital data as variations in the

amplitude of a carrier wave.



The following figure shows the modulated output of the RF module:

Fig 4-2 ASK Modulation

The RF modules works on the frequency of 315MHz. It means that the carrier frequency

of the RF module is 315MHz. The RF module enables the user to control the robot

wirelessly and with ease.

The schematic of transmitting end can be seen below:



Fig 4-3 Transmitting Circuit



This transmitted signal is received by the RF receiver, demodulated and then passed onto

the decoder IC. The decoder IC decodes the coded waveform and the original data

bits are recovered. The input is a serial coded modulated waveform while the output is

parallel. The pin 17 of the decoder IC is the Valid Transmission (VT) pin. A led can be

connected to this pin which will indicate the status of the transmission. In the case of a

successful transmission, the led will blink.

The parallel data from the encoder is fed to the port 1of the microcontroller. This data is in

the form of bits. The microcontroller reads these bits and takes decisions on the basis of

these bits. What the microcontroller does is, it compares the input bits with the coded bits

which are burnt into the program memory of the microcontroller and outputs on the basis

of these bits. Port 2 of the microcontroller is used as the output port. Output bits from this

port are forwarded to the motor driver IC which drives the motors in a special

configuration based on the hand movements.

At a dead stop, a motor produces no voltage. If a voltage is applied and the motor begins

to spin, it will act as a generator that will produce a voltage that opposes the external

voltage applied to it. This is called Counter Electromotive Force (CEF) or Back

Electromotive Force (Back EMF). If a load stops the motors from moving then the current

may be high enough to burn out the motor coil windings. To prevent this, flyback diodes

are used. They prevent the back emf from increasing and damaging the motors. The schematic of receiving end can be seen below:



Fig 4-4 Receiving Circuit



4.1 SIMULATION

We performed a simulation of our project in PROTEUS and the code was written in C

language using KEIL MICROVISION. We wrote a code for the microcontroller to run DC

motors using the H-Bridge IC (L293D). In the simulation we sent the relevant data to the

Microcontroller (AT89C51) through switches. The Microcontroller processed the data and

sent the information to the Actuator IC (L293D). The Actuator IC upon receiving

information showed response by driving the DC motors. The simulation schematic is as

follow:

Figure 4-1 FYP-1 Simulation



CHAPTER 5:

CONCLUSION,LIMITATIONS AND FUTURE WORK

5.1 CONCLUSION

We achieved our objective without any hurdles i.e. the control of a robot using gestures.

The robot is showing proper responses whenever we move our hand. Different Hand

gestures to make the robot move in specific directions are as follow:

Fig 5-1 Move Forward

Fig 5-2 Move Backward



Fig 5-3 Move Right

Fig 5-4 Move Left

The robot only moves when the accelerometer is moved in a specific direction. The valid movements are as follows:



Our finished product can be seen in the images below:

Figure 5-5 Robot-1

Figure5-6 Robot-2



Figure 5-7 Robot Wheel

Figure 5-8 Receiving Circuit



Figure 5-9 Transmitting Circuit

Figure 5-10 Hand Assembly



Figure 5-11 Robot with Hand Assembly



5.2 LIMITATIONS AND FUTURE WORK

The on-board batteries occupy a lot of space and are also quite heavy. We can either use

some alternate power source for the batteries or replace the current DC Motors

with ones which require less power.

Secondly, as we are using RF for wireless transmission, the range is quite limited; nearly

50-80m. This problem can be solved by utilizing a GSM module for

wireless transmission. The GSM infrastructure is installed almost all over the

world. GSM will not only provide wireless connectivity but also quite a large

range.

Thirdly, an on-board camera can be installed for monitoring the robot from faraway

places. All we need is a wireless camera which will broadcast and a receiver module which

will provide live streaming.



CHAPTER 6:

FEASIBILITY OF THE PROJECTDuring the development of the project we researched the feasibility in different fields,

especially software and hardware. The feasibility study is shown below. 6.1 SOFTWARE

We targeted to choose a language that is easy to understand and program. So we chose

assembly language for our project. Assembly language is the basic language of

microcontrollers. Although its not user friendly in terms of programming but still one can

learn it quickly. 6.2 HARDWARE

We chose accelerometer as the sensing device because it records even the minute

movements. We could also have completed our project using Arduino but chose

microcontroller instead because its cost is low and is easily available everywhere. There

are a number of dc geared motors available but the ones we chose are capable of

supporting loads up to 6kgs. 6.3 EXPENSES

This project is quite cost effective. The components used are easily available in the market apart

from accelerometer, RF modules and the motors. These components are quite cheap as compared

to the motors which are the only expensive part in our whole project.



MICROCONTROLLER CODE



LIST OF FIGURES & TABLES

Figure / Table No. Page No.

Figure 3-1 Block Diagram ...............................................................................................................5

Figure 3-2 ADXL335 Accelerometer ..............................................................................................7

Figure 3-3 LM324 IC ......................................................................................................................8

Figure 3-4 PT2262 IC ....................................................................................................................10

Figure 3-5 RF Transmitter .............................................................................................................12

Figure 3-6 RF Receiver .................................................................................................................13

Figure 3-7 PT2272 IC ....................................................................................................................14

Figure 3-8 AT89C51 Microcontroller ...........................................................................................15

Figure 3-9 Crystal Oscillator .........................................................................................................16

Figure 3-10 L293D IC ...................................................................................................................17

Figure 3-11 H-Bridge ....................................................................................................................18

Figure 3-12 DC Motor ...................................................................................................................19

Figure 3-13 DC Gear Motor ..........................................................................................................20

Figure 4-1 Input and Output of Comparator IC ............................................................................21

Figure 4-2 ASK Modulation ..........................................................................................................22

Figure 4-3 Transmitting Circuit ....................................................................................................23

Figure 4-4 Receiving Circuit .........................................................................................................25

Figure 4-5 Simulation ....................................................................................................................26

Figure 5-1 Move Forward .............................................................................................................27

Figure 5-2 Move Backward ...........................................................................................................27

Figure 5-3 Move Right...................................................................................................................27

Figure 5-4 Move Left ....................................................................................................................28

Figure 5-5 Robot-1 ........................................................................................................................29

Figure 5-6 Robot-2 ........................................................................................................................29



Figure 5-7 Robot Wheel.................................................................................................................30

Figure 5-8 Receiving Circuit .........................................................................................................30

Figure 5-9 Transmitting Circuit ....................................................................................................31

Figure 5-10 Hand Assembly..........................................................................................................31

Figure 5-11 Robot with Hand Assembly .......................................................................................32 Table 3-1 Pin description for Accelerometer ..................................................................................7

Table 3-2 Pin description for LM324 ..............................................................................................9

Table 3-3 Pin description for PT2262 ...........................................................................................11

Table 3-4 Pin description for RF Tx .............................................................................................12

Table 3-5 Pin description for RF Rx .............................................................................................13

Table 3-6 Pin description for PT2272 ...........................................................................................14

Table 5-1 Accelerometer Orientation ............................................................................................28

Table 6-1 Expenses .......................................................................................................................35



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<http://seminarprojects.com/s/hand-gesture-controlled-robot-ppt> [2] “Gesture Controlled Tank Toy User Guide” http://www.slideshare.net/neeraj18290/wireless-gesture-controlled-tank-toy-transmitter

[3] “Embedded Systems Guide (2002)” <http://www.webstatschecker.com/stats/keyword/a_hand_gesture_based_control_interface_for_a _car_robot> [4] “Robotic Gesture Recognition (1997)” by Jochen Triesch and Christoph Von Der Malsburg

<http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.37.5427>

[5] “Real-Time Robotic Hand Control Using Hand Gestures” by Jagdish Lal Raheja,

Radhey Shyam, G. Arun Rajsekhar and P. Bhanu Prasad

[6] “Hand Gesture Controlled Robot” by Bhosale Prasad S., Bunage Yogesh B. and

Shinde Swapnil V. [7]< http://www.robotplatform.com/howto/L293/motor_driver_1.html> [8]< http://en.wikipedia.org/wiki/Gesture_interface> [9]< http://www.wisegeek.com/what-is-a-gear-motor.htm>


http://www.slideshare.net/neeraj18290/wireless-gesture-controlled-tank-toy-transmitter