This document describes a robotic arm created by team members Ritesh Kumar, Sugam Anand, and Ritesh Gautam. The robotic arm has 4 degrees of freedom and can lift objects up to 150g while reaching 35cm. It is controlled through a computer interface and uses servomotors to allow for rotation of each joint. The arm was designed to be lightweight, robust, and easy to operate for non-experts through the use of a graphical user interface.
This document describes a servo motor controlled robotic claw. It explains that servomotors allow for precise control of position, velocity, and acceleration through a closed-loop control system. Servomotors are used in robotics and automated manufacturing. The robotic arm uses servomotors at each joint to replicate the movement of a human arm, and it can be controlled through a computer interface to perform tasks like gripping and rotating parts. Arduino and pulse width modulation are used to control the servomotors. Examples of applications include robotic arms in automotive assembly lines and medical robotic arms for surgeries.
1) Students are developing a wireless-controlled animatronic hand that mimics the movement of a human hand wearing a control glove with flex sensors.
2) The animatronic hand will use servos, flex sensors, an Arduino microcontroller, and XBee modules for wireless communication to replicate the finger movements of the operator in real time.
3) Testing showed differences in range of motion between the human hand and animatronic hand, especially at extreme positions, requiring calibration of the flex sensors.
Second Year ENTC Engg (Minor Project) on Motion Imitating Robotic Arm.Omkar Rane
This document describes designing and developing a robotic arm using servo motors controlled by an Arduino Uno microcontroller. The robotic arm uses 4 servo motors to control each joint and imitate the motion of a human arm. The arm is physically controlled, with the signals replicated by the microcontroller to synchronously control the servo motors of the robotic arm. The objectives are to help disabled people perform tasks independently and to use such robotic arms for applications like automated manufacturing and bomb disposal.
Robotic Arm using flex sensor and servo motorjovin Richard
The document describes the design and functioning of a robotic arm that can be controlled through hand gestures. The robotic arm has several degrees of freedom and uses sensors like accelerometers and flex sensors to capture hand movements. The analog sensor signals are processed by a microcontroller to generate PWM signals that control servo motors for joint movement. A DC motor is used for the gripper part to pick and place objects. The robotic arm has applications in industrial automation and medical procedures.
The document introduces a robotic arm project built by students to be controlled through hand gesture recognition. The aim was to build an arm that can grip objects. Key features include using an accelerometer and flex sensors to capture hand gestures which are processed by a microcontroller to drive servo and DC motors that move the arm and gripper. Applications are discussed like industrial uses and medical procedures. Future improvements discussed are more degrees of freedom, intelligence, and mobility. In conclusion, robotic arms are complex but help with difficult, unsafe, or boring tasks.
The document describes the components, working, and applications of a line following robot. It consists of the following key components: IR sensors to detect the line, an Arduino UNO microcontroller, an L293D motor driver IC, and two geared motors. The IR sensors detect the visual line on the floor and send signals to the Arduino, which uses the motor driver IC to control the direction of the two motors accordingly. The line following robot is able to follow the line path, make turns when detecting breaks in the line, and has applications in industrial automation.
ROBOTIC ARM WITH VOICE CONTROLLED AND IMAGE PROCESSING (1)Jayan Kant Duggal
This document describes a voice controlled robotic arm project with image processing and omni-directional movement capabilities. The 6 member student team aims to create a robotic arm that can be controlled through voice commands to pick and place objects. It will also be able to identify different colored objects using image processing in MATLAB. The arm will have 9 servo motors, a DC gear motor for movement, and mecanum wheels for omni-directional mobility. It will use an Arduino board, sensors, and a voice recognition module. The document provides details of the components, design, programming, and a budget for the project.
This document describes a servo motor controlled robotic claw. It explains that servomotors allow for precise control of position, velocity, and acceleration through a closed-loop control system. Servomotors are used in robotics and automated manufacturing. The robotic arm uses servomotors at each joint to replicate the movement of a human arm, and it can be controlled through a computer interface to perform tasks like gripping and rotating parts. Arduino and pulse width modulation are used to control the servomotors. Examples of applications include robotic arms in automotive assembly lines and medical robotic arms for surgeries.
1) Students are developing a wireless-controlled animatronic hand that mimics the movement of a human hand wearing a control glove with flex sensors.
2) The animatronic hand will use servos, flex sensors, an Arduino microcontroller, and XBee modules for wireless communication to replicate the finger movements of the operator in real time.
3) Testing showed differences in range of motion between the human hand and animatronic hand, especially at extreme positions, requiring calibration of the flex sensors.
Second Year ENTC Engg (Minor Project) on Motion Imitating Robotic Arm.Omkar Rane
This document describes designing and developing a robotic arm using servo motors controlled by an Arduino Uno microcontroller. The robotic arm uses 4 servo motors to control each joint and imitate the motion of a human arm. The arm is physically controlled, with the signals replicated by the microcontroller to synchronously control the servo motors of the robotic arm. The objectives are to help disabled people perform tasks independently and to use such robotic arms for applications like automated manufacturing and bomb disposal.
Robotic Arm using flex sensor and servo motorjovin Richard
The document describes the design and functioning of a robotic arm that can be controlled through hand gestures. The robotic arm has several degrees of freedom and uses sensors like accelerometers and flex sensors to capture hand movements. The analog sensor signals are processed by a microcontroller to generate PWM signals that control servo motors for joint movement. A DC motor is used for the gripper part to pick and place objects. The robotic arm has applications in industrial automation and medical procedures.
The document introduces a robotic arm project built by students to be controlled through hand gesture recognition. The aim was to build an arm that can grip objects. Key features include using an accelerometer and flex sensors to capture hand gestures which are processed by a microcontroller to drive servo and DC motors that move the arm and gripper. Applications are discussed like industrial uses and medical procedures. Future improvements discussed are more degrees of freedom, intelligence, and mobility. In conclusion, robotic arms are complex but help with difficult, unsafe, or boring tasks.
The document describes the components, working, and applications of a line following robot. It consists of the following key components: IR sensors to detect the line, an Arduino UNO microcontroller, an L293D motor driver IC, and two geared motors. The IR sensors detect the visual line on the floor and send signals to the Arduino, which uses the motor driver IC to control the direction of the two motors accordingly. The line following robot is able to follow the line path, make turns when detecting breaks in the line, and has applications in industrial automation.
ROBOTIC ARM WITH VOICE CONTROLLED AND IMAGE PROCESSING (1)Jayan Kant Duggal
This document describes a voice controlled robotic arm project with image processing and omni-directional movement capabilities. The 6 member student team aims to create a robotic arm that can be controlled through voice commands to pick and place objects. It will also be able to identify different colored objects using image processing in MATLAB. The arm will have 9 servo motors, a DC gear motor for movement, and mecanum wheels for omni-directional mobility. It will use an Arduino board, sensors, and a voice recognition module. The document provides details of the components, design, programming, and a budget for the project.
1) The document describes a robotic arm designed by students with 5 degrees of freedom and the ability to lift objects up to 100 grams.
2) The robotic arm is controlled through a computer interface and uses servos connected to a microcontroller. It can grab objects in a 50cm hemisphere.
3) The objectives of the project were to design and construct a robotic arm that could be controlled by a computer through a keyboard and mouse.
Obstacle Avoiding robot is a self thinking robot which can take decisions itself using programmed brain without any guidance from human beings. In our Project we use Infrared to sense obstacles and take movements accordingly. Our Project
mainly used in military application, small toys and also used in mines by increasing IR sensors.
Obstacle detection Robot using Ultrasonic Sensor and Arduino UNOSanjay Kumar
This document describes how to build an obstacle detection robot using an Arduino UNO, ultrasonic sensor, and motor driver module. It explains the components used, including the Arduino, ultrasonic sensor to detect obstacles from 2-400cm away, and an L298N motor driver module to control DC motors. It provides details on connecting the components, programming the ultrasonic sensor to trigger and receive echo signals to determine distances, and controlling the motor's direction depending on detected obstacles to help the robot navigate. Code and more details are available at the provided GitHub link.
This document proposes a hand gesture robot controlled by hand gestures. It consists of a transmitter section and receiver section. The transmitter section includes an Arduino Uno, accelerometer, encoder, and RF transmitter to detect hand gestures and transmit signals. The receiver section includes an RF receiver, decoder, motor driver IC, and two motors. It receives the transmitted signals, decodes them, and controls the motors to move the robot accordingly. Potential applications include remote surveillance, controlling industrial robotic arms wirelessly through gestures. Circuit diagrams are provided for both the transmitter and receiver sections.
This project aimed to create an obstacle avoiding rover using an ultrasonic sensor and 4WD platform. The rover was able to scan in front using the sensor, detect obstacles within 12 inches, and maneuver around them. However, the project was incomplete as the rover struggled with traction issues and could not consistently move forward after avoiding obstacles. The sensor also had accuracy problems. While the concept showed promise, numerous bugs could not be resolved within the time frame. Improved equipment and a different approach may have led to better results.
Leading Robotics Research: SMAC Direct Drive Servo Motor Robotic FingerJohn Miewald
The document discusses the development of robotic fingers and hands. It outlines the need for robotic fingers that can perform delicate tasks like human hands. It then details the development of small, powerful direct-drive motors by SMAC Moving Coil Actuators to enable robotic fingers that can generate forces similar to humans. The motors have been integrated into prototype robotic fingers and hands. Future work involves further miniaturizing the motors and developing control systems to enable dexterous, programmable robotic hands and fingers.
The document describes an obstacle avoiding robot created by four group members using an Arduino UNO, ultrasonic sensor, DC motor driver, and connecting wires. The robot senses obstacles in its path using the ultrasonic sensor, avoids obstacles by reversing or turning, and resumes moving forward once the path is clear. The robot's program uses the ultrasonic sensor readings to determine its speed and maneuvering.
This presentation summarizes a project to design a robotic hand controlled by hand gestures. The project is led by a group of 5 students and aims to help the deaf community. The robotic hand will be controlled via a glove with flex sensors that detect hand gestures. The signals from the flex sensors are sent to an Arduino microcontroller and transmitted to the robotic hand via Xbee modules. The hand will be built using servo motors attached to a fiberglass structure to mimic finger and hand movements based on the detected gestures.
This robotic hand is controlled by hand gestures using a potentiometer to sense hand movements. The potentiometer records the direction of hand movement and sends this information to an Arduino microcontroller via a wired connection. The microcontroller then sends signals to servo motors controlling the robotic hand, making it move in the corresponding direction. The system aims to allow users to interact with the robotic hand in a friendly way by mimicking human hand movements. Some limitations are the lifting capacity and durability of the servo motors and potentiometer. Future work could make the hand wireless and allow automated movements beyond direct control.
This document describes a workshop on haptic robotic arms. The workshop consists of 4 sessions over 2 days that cover advanced robotics concepts like exoskeletons and haptics, robotic arm design and components like sensors and actuators, programming microcontrollers to control the arm, and a hands-on session where students construct and control a robotic arm using a haptic glove. The haptic robotic arm kit used includes a microcontroller board, DC motors, haptic sensors, and arm assemblies to build a robotic arm that can be controlled in real time using a haptic glove.
This document describes the components, working, circuit, source code, and scope of an obstacle avoidance robot powered by an Arduino. The main components are a chassis, Arduino UNO microcontroller, DC motor, motor driver, ultrasonic sensor, and servo motor. The robot uses the ultrasonic sensor to calculate distances and detects obstacles. It then controls the DC motor and servo motor using the motor driver and Arduino to avoid obstacles and navigate autonomously. The source code contains functions for movement, distance calculation, and sensor control. Potential applications discussed for further development include using it as a firefighting, mining, driverless vehicle, or cleaning robot.
This document describes the design and working of an intelligent line following robot. It uses infrared sensors to detect a black line on a white surface and a microcontroller to control motors that navigate the robot along the line. The microcontroller receives sensor input and determines whether the robot should move straight, turn right, or turn left to stay on the line. The line following robot demonstrates principles of sensing, feedback control, and programming intelligence into machines.
Robotic arm control through internet/Lan for patient operationSuchit Moon
This document describes a robotic arm that can be controlled over a local area network or the internet. The robotic arm has three motors - one to rotate the arm 360 degrees, one to rotate it 90 degrees, and one attached to a sharp blade that can cut skin or body parts. It also includes flow charts showing how data is transmitted from a transmitter to the robotic arm receiver to control its operations.
The document summarizes key components of a mobile robot including locomotion systems, power supplies, actuators, sensors, and control systems. It describes specific sensors like light dependent resistors and comparators that provide feedback. It also discusses actuators like DC motors and how their speed and direction can be controlled through H-bridge circuits and pulse width modulation.
Design, Implementation and Control of a Humanoid Robot for Obstacle Avoidance...IOSR Journals
In this paper, the design, implementation and control of a humanoid robot, which enables humanlike
walk and a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is
proposed. As the focus is to obtain human-like walk, the robot is designed to resemble human proportions.
Based on the obtained information from IR sensors, a software flow proposed to decide the behaviour of robot
so that the robot avoids obstacles and goes to the destination. Furthermore the hardware and software
necessary to obtain a fully autonomous system is developed and implemented. Human-like walk was not
obtained on the real system, due to system limitations. If a new interface to the DC-motors in the servos was
developed, and a faster on-board computer was chosen, human-like walk should be possible.
The document describes an engineering design project by a group of students to build a line following robot. The group includes 5 students and their project is to build a robot that can follow a black line on a white surface using 7 infrared sensors. The robot will use a PIC16F877A microcontroller to process sensor input and control 2 motors. The group's circuit design includes panels for analog to digital conversion, microcontroller simulation, and motor control. The robot is able to navigate and make turns at intersections using the sensor arrangement and programmed logic in the microcontroller.
Robot arm control through human hand motionvignesh viki
In this project is based on PIC 16F877A microcontroller. Human hand’s five motions are interpreted and that signals respectively robotic arm moved, its signals are transferred through wireless by using RF module. It is first stage for humanoid robot.
Design, Implementation and Control of a Humanoid Robot for Obstacle Avoidance...IOSR Journals
This document describes the design, implementation, and control of a humanoid robot for obstacle avoidance using an 8051 microcontroller. The robot is designed to resemble human proportions to enable human-like walking. Infrared sensors are installed to detect obstacles in the environment. Based on sensor information, a software flow is proposed to determine the robot's path to avoid obstacles and reach its destination. The hardware and software to create an autonomous system are developed and implemented. However, human-like walking was not achieved on the real system due to limitations. Faster motors and computer could enable human-like walking.
This document describes the design, implementation, and control of a humanoid robot for obstacle avoidance using an 8051 microcontroller. The robot is designed to resemble human proportions to enable human-like walking. Infrared sensors are installed to detect obstacles in the environment. Based on sensor information, an obstacle avoidance method is proposed using software to determine a free path for the robot to avoid obstacles and reach its destination. The hardware and software to create an autonomous system are developed and implemented, though human-like walking was not achieved due to system limitations.
This robotic hand can be controlled by human hand gestures through a wired connection. Flex sensors on a glove record hand movements and send the data to an Arduino microcontroller via an encoder. The microcontroller controls servo motors in the robotic hand to mimic the movements of the human hand, allowing interactive control. While the system works responsively, the flex sensors and servo motors have limited lifetimes that require careful maintenance for continued operation.
1) The document describes a robotic arm designed by students with 5 degrees of freedom and the ability to lift objects up to 100 grams.
2) The robotic arm is controlled through a computer interface and uses servos connected to a microcontroller. It can grab objects in a 50cm hemisphere.
3) The objectives of the project were to design and construct a robotic arm that could be controlled by a computer through a keyboard and mouse.
Obstacle Avoiding robot is a self thinking robot which can take decisions itself using programmed brain without any guidance from human beings. In our Project we use Infrared to sense obstacles and take movements accordingly. Our Project
mainly used in military application, small toys and also used in mines by increasing IR sensors.
Obstacle detection Robot using Ultrasonic Sensor and Arduino UNOSanjay Kumar
This document describes how to build an obstacle detection robot using an Arduino UNO, ultrasonic sensor, and motor driver module. It explains the components used, including the Arduino, ultrasonic sensor to detect obstacles from 2-400cm away, and an L298N motor driver module to control DC motors. It provides details on connecting the components, programming the ultrasonic sensor to trigger and receive echo signals to determine distances, and controlling the motor's direction depending on detected obstacles to help the robot navigate. Code and more details are available at the provided GitHub link.
This document proposes a hand gesture robot controlled by hand gestures. It consists of a transmitter section and receiver section. The transmitter section includes an Arduino Uno, accelerometer, encoder, and RF transmitter to detect hand gestures and transmit signals. The receiver section includes an RF receiver, decoder, motor driver IC, and two motors. It receives the transmitted signals, decodes them, and controls the motors to move the robot accordingly. Potential applications include remote surveillance, controlling industrial robotic arms wirelessly through gestures. Circuit diagrams are provided for both the transmitter and receiver sections.
This project aimed to create an obstacle avoiding rover using an ultrasonic sensor and 4WD platform. The rover was able to scan in front using the sensor, detect obstacles within 12 inches, and maneuver around them. However, the project was incomplete as the rover struggled with traction issues and could not consistently move forward after avoiding obstacles. The sensor also had accuracy problems. While the concept showed promise, numerous bugs could not be resolved within the time frame. Improved equipment and a different approach may have led to better results.
Leading Robotics Research: SMAC Direct Drive Servo Motor Robotic FingerJohn Miewald
The document discusses the development of robotic fingers and hands. It outlines the need for robotic fingers that can perform delicate tasks like human hands. It then details the development of small, powerful direct-drive motors by SMAC Moving Coil Actuators to enable robotic fingers that can generate forces similar to humans. The motors have been integrated into prototype robotic fingers and hands. Future work involves further miniaturizing the motors and developing control systems to enable dexterous, programmable robotic hands and fingers.
The document describes an obstacle avoiding robot created by four group members using an Arduino UNO, ultrasonic sensor, DC motor driver, and connecting wires. The robot senses obstacles in its path using the ultrasonic sensor, avoids obstacles by reversing or turning, and resumes moving forward once the path is clear. The robot's program uses the ultrasonic sensor readings to determine its speed and maneuvering.
This presentation summarizes a project to design a robotic hand controlled by hand gestures. The project is led by a group of 5 students and aims to help the deaf community. The robotic hand will be controlled via a glove with flex sensors that detect hand gestures. The signals from the flex sensors are sent to an Arduino microcontroller and transmitted to the robotic hand via Xbee modules. The hand will be built using servo motors attached to a fiberglass structure to mimic finger and hand movements based on the detected gestures.
This robotic hand is controlled by hand gestures using a potentiometer to sense hand movements. The potentiometer records the direction of hand movement and sends this information to an Arduino microcontroller via a wired connection. The microcontroller then sends signals to servo motors controlling the robotic hand, making it move in the corresponding direction. The system aims to allow users to interact with the robotic hand in a friendly way by mimicking human hand movements. Some limitations are the lifting capacity and durability of the servo motors and potentiometer. Future work could make the hand wireless and allow automated movements beyond direct control.
This document describes a workshop on haptic robotic arms. The workshop consists of 4 sessions over 2 days that cover advanced robotics concepts like exoskeletons and haptics, robotic arm design and components like sensors and actuators, programming microcontrollers to control the arm, and a hands-on session where students construct and control a robotic arm using a haptic glove. The haptic robotic arm kit used includes a microcontroller board, DC motors, haptic sensors, and arm assemblies to build a robotic arm that can be controlled in real time using a haptic glove.
This document describes the components, working, circuit, source code, and scope of an obstacle avoidance robot powered by an Arduino. The main components are a chassis, Arduino UNO microcontroller, DC motor, motor driver, ultrasonic sensor, and servo motor. The robot uses the ultrasonic sensor to calculate distances and detects obstacles. It then controls the DC motor and servo motor using the motor driver and Arduino to avoid obstacles and navigate autonomously. The source code contains functions for movement, distance calculation, and sensor control. Potential applications discussed for further development include using it as a firefighting, mining, driverless vehicle, or cleaning robot.
This document describes the design and working of an intelligent line following robot. It uses infrared sensors to detect a black line on a white surface and a microcontroller to control motors that navigate the robot along the line. The microcontroller receives sensor input and determines whether the robot should move straight, turn right, or turn left to stay on the line. The line following robot demonstrates principles of sensing, feedback control, and programming intelligence into machines.
Robotic arm control through internet/Lan for patient operationSuchit Moon
This document describes a robotic arm that can be controlled over a local area network or the internet. The robotic arm has three motors - one to rotate the arm 360 degrees, one to rotate it 90 degrees, and one attached to a sharp blade that can cut skin or body parts. It also includes flow charts showing how data is transmitted from a transmitter to the robotic arm receiver to control its operations.
The document summarizes key components of a mobile robot including locomotion systems, power supplies, actuators, sensors, and control systems. It describes specific sensors like light dependent resistors and comparators that provide feedback. It also discusses actuators like DC motors and how their speed and direction can be controlled through H-bridge circuits and pulse width modulation.
Design, Implementation and Control of a Humanoid Robot for Obstacle Avoidance...IOSR Journals
In this paper, the design, implementation and control of a humanoid robot, which enables humanlike
walk and a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is
proposed. As the focus is to obtain human-like walk, the robot is designed to resemble human proportions.
Based on the obtained information from IR sensors, a software flow proposed to decide the behaviour of robot
so that the robot avoids obstacles and goes to the destination. Furthermore the hardware and software
necessary to obtain a fully autonomous system is developed and implemented. Human-like walk was not
obtained on the real system, due to system limitations. If a new interface to the DC-motors in the servos was
developed, and a faster on-board computer was chosen, human-like walk should be possible.
The document describes an engineering design project by a group of students to build a line following robot. The group includes 5 students and their project is to build a robot that can follow a black line on a white surface using 7 infrared sensors. The robot will use a PIC16F877A microcontroller to process sensor input and control 2 motors. The group's circuit design includes panels for analog to digital conversion, microcontroller simulation, and motor control. The robot is able to navigate and make turns at intersections using the sensor arrangement and programmed logic in the microcontroller.
Robot arm control through human hand motionvignesh viki
In this project is based on PIC 16F877A microcontroller. Human hand’s five motions are interpreted and that signals respectively robotic arm moved, its signals are transferred through wireless by using RF module. It is first stage for humanoid robot.
Design, Implementation and Control of a Humanoid Robot for Obstacle Avoidance...IOSR Journals
This document describes the design, implementation, and control of a humanoid robot for obstacle avoidance using an 8051 microcontroller. The robot is designed to resemble human proportions to enable human-like walking. Infrared sensors are installed to detect obstacles in the environment. Based on sensor information, a software flow is proposed to determine the robot's path to avoid obstacles and reach its destination. The hardware and software to create an autonomous system are developed and implemented. However, human-like walking was not achieved on the real system due to limitations. Faster motors and computer could enable human-like walking.
This document describes the design, implementation, and control of a humanoid robot for obstacle avoidance using an 8051 microcontroller. The robot is designed to resemble human proportions to enable human-like walking. Infrared sensors are installed to detect obstacles in the environment. Based on sensor information, an obstacle avoidance method is proposed using software to determine a free path for the robot to avoid obstacles and reach its destination. The hardware and software to create an autonomous system are developed and implemented, though human-like walking was not achieved due to system limitations.
This robotic hand can be controlled by human hand gestures through a wired connection. Flex sensors on a glove record hand movements and send the data to an Arduino microcontroller via an encoder. The microcontroller controls servo motors in the robotic hand to mimic the movements of the human hand, allowing interactive control. While the system works responsively, the flex sensors and servo motors have limited lifetimes that require careful maintenance for continued operation.
A robotic arm consists of linked segments connected by movable joints, similar to a human arm. The end of the kinematic chain that can grip or otherwise interact with its environment is called the end effector. The range of reachable positions for the end effector is defined as the robot's workspace. Proper selection of motors at each joint is important to ensure the arm can handle expected torques without failing. Common types of robot grippers include vacuum, hydraulic, pneumatic, and magnetic options, each with strengths for different applications.
The document describes a smart mount system that uses two servo motors controlled by an MSP430 microprocessor to adjust the vertical and horizontal tilt of the mount based on input from a potentiometer and accelerometer. The system includes code modules for initializing and controlling the servos and reading acceleration data to calculate the vertical angle of the mount. Safety considerations include not overloading the servos and ensuring a stable structure.
- Servo motors are small, energy efficient motors with a feedback system to control the position of the motor arm. They are commonly used in remote controlled toys, robots, and industrial applications. Servo motors turn to a specified position upon receiving a pulse-width modulation (PWM) signal between 1-2 milliseconds.
- Relays are electrically operated switches that use an electromagnet to mechanically operate a switch circuit. They are used to control a circuit using a low-power signal with electrical isolation between control and controlled circuits. Common types are normally open and normally closed relays. Relays work by using a control circuit to activate an electromagnet that switches a second circuit.
Abstract: Haptics is the science of applying touch sensation and control for interaction with virtual or physical application. In this project, our aim is to make a robotic arm that will copy the actual movements of a human hand. Motion of the hand will vary the potentiometer resistance which is placed on the human arm. This change in resistance produces an equivalent output voltage which is given to the microcontroller. The microcontroller converts this analog signal to digital and produces corresponding PWM signals which are required for the servomotors on the robotic arm to run. Servomotors are connected to the receiver microcontroller. PWM pulses are sent to the receiver controller. The hardware of this project is very user friendly, portable, easy to handle and also very light in weight. It has a very simple design and also very easy to assemble. We have used 5 Degrees of Freedom i.e. Shoulder, Elbow, Wrist and Finger
A simple project on Obstacle Avoiding Robot is designed here. Robotics is an interesting and fast-growing field. Being a branch of engineering, the applications of robotics are increasing with the advancement of technology.
This document provides an overview of embedded systems concepts including pulse width modulation (PWM), servo motors, DC motors, timers, analog to digital converters (ADCs), and different types of ADCs. It discusses how PWM is used to control servo and DC motors. It also explains the different timer modes for microcontrollers and how timers can generate PWM signals. Finally, it summarizes various ADC types including parallel, ramp counter, and successive approximation designs.
A servo motor is a motor that uses feedback to control its motion and position. It consists of a motor, control board, and potentiometer connected to the output shaft. The potentiometer allows the control circuitry to monitor the shaft position and provide feedback to move the shaft to the desired angle between 0 and 180 degrees. Servo motors are used in applications like robotics and CNC machinery where precise control of motion and position is required. They are controlled through pulse width modulation signals that determine the shaft position based on pulse duration. Common types are rotary and linear servo motors that can have encoders or resolvers for position feedback.
Institute of infrastructure technology research and management (IITRAM) Ahmedabad. This is the project report given to us in the control sytem lab. This is basically a Servo postion control. Here we are using PID controller.
The document describes an obstacle observing robot that uses infrared sensors to detect obstacles and avoid them. It consists of an ATmega8 microcontroller, infrared sensors, a motor driver, and motors. The infrared sensors transmit and receive signals to detect obstacles. When an obstacle is detected, the robot diverts itself to move around the obstacle without human guidance. It is designed to autonomously navigate an area while avoiding obstacles.
IRJET - Controlling 4 DOF Robotic ARM with 3-Axis Accelerometer and Flex ...IRJET Journal
This document describes a study that uses an accelerometer and flex sensor to control a 4 degree of freedom robotic arm. The robotic arm is 3D printed and has a motherboard to control stepper motors in each joint. An ADXL345 acceleration sensor provides axis values from two gloves to control movement of the four joints. A flex sensor on one glove controls the gripper. The system aims to allow autonomous control of the robotic arm through human hand motions detected by the sensors. Key components of the robotic arm like the motherboard, stepper motors, and sensors are described in detail.
Welcome to International Journal of Engineering Research and Development (IJERD)IJERD Editor
call for paper 2012, hard copy of journal, research paper publishing, where to publish research paper,
journal publishing, how to publish research paper, Call For research paper, international journal, publishing a paper, IJERD, journal of science and technology, how to get a research paper published, publishing a paper, publishing of journal, publishing of research paper, reserach and review articles, IJERD Journal, How to publish your research paper, publish research paper, open access engineering journal, Engineering journal, Mathemetics journal, Physics journal, Chemistry journal, Computer Engineering, Computer Science journal, how to submit your paper, peer reviw journal, indexed journal, reserach and review articles, engineering journal, www.ijerd.com, research journals
This document describes the design of a 6 degree of freedom robotic arm that can be controlled over the internet. Key points:
- The robotic arm uses servo motors controlled by a microcontroller to achieve 6 degrees of freedom like a human arm.
- A user interface created in VB.NET allows remote control of the arm over the internet by sending signals to the microcontroller.
- An Atmega32 microcontroller interprets the signals and generates pulse-width modulation signals to control the servo motor position and movement of each joint in the arm.
The document provides information about using an Atmel 89S52 microcontroller to control servo motors. It includes sections about servo motors, the Atmel 89S52 microcontroller, and sample Keil code. The Atmel 89S52 has features like 8K bytes of flash memory, 256 bytes of RAM, timers/counters, and I/O ports that make it suitable for controlling servo motors. The Keil code section implies the document contains or references code written for the Atmel 89S52 in Keil software.
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
The document describes the design and implementation of an electronic gesture recognition system using an accelerometer to control a robotic arm. The system uses an ADXL335 3-axis accelerometer attached to a human arm to capture gestures. The accelerometer outputs analog voltages that are converted to digital signals and transmitted wirelessly to an LPC1768 microcontroller. The microcontroller controls a KSR10 robotic arm in response to the received signals. Experiments showed the system could successfully control the robotic arm movements in both dynamic and static modes using human gestures detected by the accelerometer.
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
This document describes a system to control a robotic arm wirelessly using gestures detected by an accelerometer. The system uses an ADXL335 accelerometer attached to a human arm to capture gestures. An Arduino microcontroller digitizes the analog accelerometer and flex sensor data and sends the data wirelessly to an LPC1768 Cortex M3 microcontroller board. The LPC1768 controls the movements of a 5-axis robotic arm through motor drivers based on the received gesture character commands. The goal is to allow more intuitive control of industrial robots through wireless gesture recognition compared to traditional teach pendants.
We have compiled the most important slides from each speaker's presentation. This year’s compilation, available for free, captures the key insights and contributions shared during the DfMAy 2024 conference.
6th International Conference on Machine Learning & Applications (CMLA 2024)ClaraZara1
6th International Conference on Machine Learning & Applications (CMLA 2024) will provide an excellent international forum for sharing knowledge and results in theory, methodology and applications of on Machine Learning & Applications.
Low power architecture of logic gates using adiabatic techniquesnooriasukmaningtyas
The growing significance of portable systems to limit power consumption in ultra-large-scale-integration chips of very high density, has recently led to rapid and inventive progresses in low-power design. The most effective technique is adiabatic logic circuit design in energy-efficient hardware. This paper presents two adiabatic approaches for the design of low power circuits, modified positive feedback adiabatic logic (modified PFAL) and the other is direct current diode based positive feedback adiabatic logic (DC-DB PFAL). Logic gates are the preliminary components in any digital circuit design. By improving the performance of basic gates, one can improvise the whole system performance. In this paper proposed circuit design of the low power architecture of OR/NOR, AND/NAND, and XOR/XNOR gates are presented using the said approaches and their results are analyzed for powerdissipation, delay, power-delay-product and rise time and compared with the other adiabatic techniques along with the conventional complementary metal oxide semiconductor (CMOS) designs reported in the literature. It has been found that the designs with DC-DB PFAL technique outperform with the percentage improvement of 65% for NOR gate and 7% for NAND gate and 34% for XNOR gate over the modified PFAL techniques at 10 MHz respectively.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
DEEP LEARNING FOR SMART GRID INTRUSION DETECTION: A HYBRID CNN-LSTM-BASED MODELgerogepatton
As digital technology becomes more deeply embedded in power systems, protecting the communication
networks of Smart Grids (SG) has emerged as a critical concern. Distributed Network Protocol 3 (DNP3)
represents a multi-tiered application layer protocol extensively utilized in Supervisory Control and Data
Acquisition (SCADA)-based smart grids to facilitate real-time data gathering and control functionalities.
Robust Intrusion Detection Systems (IDS) are necessary for early threat detection and mitigation because
of the interconnection of these networks, which makes them vulnerable to a variety of cyberattacks. To
solve this issue, this paper develops a hybrid Deep Learning (DL) model specifically designed for intrusion
detection in smart grids. The proposed approach is a combination of the Convolutional Neural Network
(CNN) and the Long-Short-Term Memory algorithms (LSTM). We employed a recent intrusion detection
dataset (DNP3), which focuses on unauthorized commands and Denial of Service (DoS) cyberattacks, to
train and test our model. The results of our experiments show that our CNN-LSTM method is much better
at finding smart grid intrusions than other deep learning algorithms used for classification. In addition,
our proposed approach improves accuracy, precision, recall, and F1 score, achieving a high detection
accuracy rate of 99.50%.
A review on techniques and modelling methodologies used for checking electrom...nooriasukmaningtyas
The proper function of the integrated circuit (IC) in an inhibiting electromagnetic environment has always been a serious concern throughout the decades of revolution in the world of electronics, from disjunct devices to today’s integrated circuit technology, where billions of transistors are combined on a single chip. The automotive industry and smart vehicles in particular, are confronting design issues such as being prone to electromagnetic interference (EMI). Electronic control devices calculate incorrect outputs because of EMI and sensors give misleading values which can prove fatal in case of automotives. In this paper, the authors have non exhaustively tried to review research work concerned with the investigation of EMI in ICs and prediction of this EMI using various modelling methodologies and measurement setups.
A SYSTEMATIC RISK ASSESSMENT APPROACH FOR SECURING THE SMART IRRIGATION SYSTEMSIJNSA Journal
The smart irrigation system represents an innovative approach to optimize water usage in agricultural and landscaping practices. The integration of cutting-edge technologies, including sensors, actuators, and data analysis, empowers this system to provide accurate monitoring and control of irrigation processes by leveraging real-time environmental conditions. The main objective of a smart irrigation system is to optimize water efficiency, minimize expenses, and foster the adoption of sustainable water management methods. This paper conducts a systematic risk assessment by exploring the key components/assets and their functionalities in the smart irrigation system. The crucial role of sensors in gathering data on soil moisture, weather patterns, and plant well-being is emphasized in this system. These sensors enable intelligent decision-making in irrigation scheduling and water distribution, leading to enhanced water efficiency and sustainable water management practices. Actuators enable automated control of irrigation devices, ensuring precise and targeted water delivery to plants. Additionally, the paper addresses the potential threat and vulnerabilities associated with smart irrigation systems. It discusses limitations of the system, such as power constraints and computational capabilities, and calculates the potential security risks. The paper suggests possible risk treatment methods for effective secure system operation. In conclusion, the paper emphasizes the significant benefits of implementing smart irrigation systems, including improved water conservation, increased crop yield, and reduced environmental impact. Additionally, based on the security analysis conducted, the paper recommends the implementation of countermeasures and security approaches to address vulnerabilities and ensure the integrity and reliability of the system. By incorporating these measures, smart irrigation technology can revolutionize water management practices in agriculture, promoting sustainability, resource efficiency, and safeguarding against potential security threats.
Literature Review Basics and Understanding Reference Management.pptxDr Ramhari Poudyal
Three-day training on academic research focuses on analytical tools at United Technical College, supported by the University Grant Commission, Nepal. 24-26 May 2024
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
Harnessing WebAssembly for Real-time Stateless Streaming PipelinesChristina Lin
Traditionally, dealing with real-time data pipelines has involved significant overhead, even for straightforward tasks like data transformation or masking. However, in this talk, we’ll venture into the dynamic realm of WebAssembly (WASM) and discover how it can revolutionize the creation of stateless streaming pipelines within a Kafka (Redpanda) broker. These pipelines are adept at managing low-latency, high-data-volume scenarios.
Harnessing WebAssembly for Real-time Stateless Streaming Pipelines
Arm
1. ROBOTIC ARM
TEAM MEMBERS:
1. RITESH KUMAR
2. SUGAM ANAND
3. RITESH GAUTAM
Description
A robotic arm is a robotic manipulator, usually programmable, with similar functions to a human
arm .Servo motor is used for joint rotation. It has about same number of degree of freedom as in
human arm. Humans pick things up without thinking about the steps involved. In
order for a robot or a robotic arm to pick up or move something, someone has to
tell it to perform several actions in a particular order — from moving the arm, to
rotating the “wrist” to opening and closing the “hand” or “fingers.” .So, we can
control each joint through computer interface
Overview
Degree of Freedom:4
Payload Capacity(Fully Extended) : 150gm
Maximum Reach(Fully Extended) : 35cm
Rated speed(Adjustable) : 0-0.3 m/s
Joint speed(Adjustable) : 0-60 rpm
Hardware interface : USB
Control Software : computer interface(GUI)
Shoulder Base Spin : 180°
Shoulder Pitch : 180°
Elbow Pitch : 180°
Wrist Pitch : 180°
Gripper Opening(Max) : 8cm
Sailent features / innovations
1. The arm has five servos which are controlled through the use of only one
microcontroller atmega 16.
2. 2. The arm could grab things approximately in a hemisphere of 50cm and is
robust made completely with an aluminium sheet of 2.5mm.
3. The arm is very user friendly because of the computer interface developed by
us, even layman could operate it.
4. The could lift objects upto weight of 200 gm.
5. Enabling the base rotation without the help of any gears or ball bearing, also
using only low torque servo motors and three castor wheels for rotating the whole
body.
6. Developing the graphical user interface using only the opencv highgui functions,
Instead of previously used matlab.
7. Keeping the design of robotic arm gripper simple, as well as implementing the
gripping mechanism without using gears and with one servo motors.
What are Servo Motors?
Servo refers to an error sensing feedback control which is used to correct the performance
of a system. Servo or RC Servo Motors are DC motors equipped with a servo mechanism
for precise control of angular position. The RC servo motors usually have a rotation limit
from 90° to 180°. But servos do not rotate continually. Their rotation is restricted in between
the fixed angles.
Where are Servos used?
The Servos are used for precision positioning. They are used in robotic arms and legs,
sensor scanners and in RC toys like RC helicopter, airplanes and cars.
3. Servo Motor wiring and plugs
The Servo Motors come with three wires or leads. Two of these wires are to provide ground
and positive supply to the servo DC motor. The third wire is for the control signal. These
wires of a servo motor are colour coded. The red wire is the DC supply lead and must be
connected to a DC voltage supply in the range of 4.8 V to 6V. The black wire is to provide
ground. The colour for the third wire (to provide control signal) varies for different
manufacturers. It can be yellow (in case of Hitec), white (in case of Futaba), brown etc.
Futaba provides a J-type plug with an extra flange for proper connection of the servo. Hitec
has an S-type connector. A Futaba connector can be used with a Hitec servo by clipping of
the extra flange. Also a Hitec connector can be used with a Futaba servo just by filing off the
extra width so that it fits in well.
Hitec splines have 24 teeth while Futaba splines are of 25 teeth. Therefore splines
made for one servo type cannot be used with another. Spline is the place where a
servo arm is connected. It is analogous to the shaft of a common DC motor.
Unlike DC motors, reversing the ground and positive supply connections does not change
the direction (of rotation) of a servo. This may, in fact, damage the servo motor. That is why
it is important to properly account for the order of wires in a servo motor.
Servo Control
A servo motor mainly consists of a DC motor, gear system, a position sensor which is mostly
a potentiometer, and control electronics. The DC motor is connected with a gear mechanism
which provides feedback to a position sensor which is mostly a potentiometer. From the gear
box, the output of the motor is delivered via servo spline to the servo arm. The potentiometer
changes position corresponding to the current position of the motor. So the change in
resistance produces an equivalent change in voltage from the potentiometer. A pulse width
4. modulated signal is fed through the control wire. The pulse width is converted into an
equivalent voltage that is compared with that of signal from the potentiometer in an error
amplifier.
The servo motor can be moved to a desired angular position by sending PWM (pulse width
modulated) signals on the control wire. The servo understands the language of pulse
position modulation. A pulse of width varying from 1 millisecond to 2 milliseconds in a
repeated time frame is sent to the servo for around 50 times in a second. The width of the
pulse determines the angular position.
For example, a pulse of 1 millisecond moves the servo towards 0°, while a 2 milliseconds
wide pulse would take it to 180°. The pulse width for in between angular positions can be
interpolated accordingly. Thus a pulse of width 1.5 milliseconds will shift the servo to 90°.
It must be noted that these values are only the approximations. The actual behavior of the
servos differs based on their manufacturer.
A sequence of such pulses (50 in one second) is required to be passed to the servo to
sustain a particular angular position. When the servo receives a pulse, it can retain the
corresponding angular position for next 20 milliseconds. So a pulse in every 20 millisecond
time frame must be fed to the servo.
5. The required pulse train for controlling the servo motor can be generated by a timer IC such
as 555 or a microcontroller can be programmed to generate the required waveform. Refer
Servo Motor interfacing with 8051 microcontroller and Servo control using AVR ATmega16.
Basic Servomotor Bracket Assembly
These servomotor brackets may be used to create any number of
robotic project like robotic
arm,hexapod,snake robot.
Assembled Servomotor Bracket
6. Fitting servo motor in bracket
.
Torque calculations of Joints
The point of doing torque calculations is for motor selection. We must make sure that the
motor we choose can not only support the weight of the robot arm, but also what the robot
arm will carry .The first step is to label your FBD, with the robot arm stretched out to its
maximum length.Torque calculated here is torque at rest robotic arm(not in motion) .So
rating of torque in servo motor is greater than calculated value.
7. Link for to view torque calculation:
http://students.iitk.ac.in/projects/roboticsclub/robotic_arm
Torque of each Servo Used
Minimum Necessary Use
(kg-cm) (kg-cm)
1.Base 4.0 6.5
2.Shoulder 19.2 20
3.Elbow 12.2 14.5
4.Wrist 4.4 6.5
Programming of Robotic Arm
1. Communication between PC and microcontroller
We used the opencv serial port interface functions for communication between
the pc and microcontroller for sending the slider values(ocr values )
to atmega 16 for generating the required square wave for driving the servo motors
Why OpenCV ,not Matlab ?
The serial communication in opencv is fast as compared to that in matlab., thus
enabling us to increase the rate of transfer of ocr values to atmega 16.Since we need
slider value of computer interface to be transferred very fastly,so we preferred openCV.
8. The code used for communication is as follows:
#include”conio.h”
#include”Tserial.cpp”
#include”highgui.h”
#include”cv.h”
#include”string.h”
#include”stdio.h”
Void mainsending(char* ch)
{ Tserial *com;
Com=new Tserial ();
Com->connect(“COM1”,9600,spNONE);
if (com!=0)
{ com->sendArray(ch,4);
com->disconnect(); }
else printf("not sent");
}
2. Programming the Atmega 16
The main function of atmega 16 is to generate square wave signal at 50Hz to control
5 servo motor.It receives slider value(desired angle for particular servo) from the
computer and generate square wave as required.
The desired frequency is generated with the help of TIMER0 in atmega 16.Code
used for
interrupt [TIM0_COMP] void timer0_comp_isr(void)
{ count++;
if(count>=SERVO_TIME_PERIOD)
{ count=0;
PORTA.0=1;
PORTA.1=1;
10. n= .69 * x3 +52; //for servo cal.
conv_four(n,2); }
void sending_wrist(int y)
{int n;
n= .58 * x4 +80; //for servo cal.
conv_four(n,3);}
void sending_gripper(int y)
{ int n;
n= x5* 85 + 55 ;
conv_four(n,4); }
Application of Robotic Arm
The robotic arm can be designed to perform any desired task such as welding, gripping,
spinning etc., depending on the application. For example robot arms in automotive
assembly line perform a variety of tasks such as wielding and parts rotation and
placement during assembly.
In space the space shuttle Remote Manipulator System have multi degree of
freedom robotic arms that have been used to perform a variety of tasks such as
inspections of the Space Shuttle using a specially deployed boom with cameras
and sensors attached at the end effector.
The robot arms can be autonomous or controlled manually and can be used to perform
a variety of tasks with great accuracy.The robotic arm can be fixed or mobile (i.e.
wheeled) and can be designed for industrial or home applications. Robotic hands often
have built-in pressure sensors that tell the computer how hard the robot is gripping a
particular object. This keeps the robot from dropping or breaking whatever it's carrying.
Other end effectors include blowtorches, drills and spray painters.this improves their
performance.
In medical science: "Neuroarm" uses miniaturized tools such as laser scalpels
with pinpoint accuracy and it can also perform soft tissue manipulation,
needle insertion, suturing, and cauterization.
11. Future work to be done
1. Increasing the degrees of freedom of the robotic arm by implanting more servos
motors.
2. Implementing the inverse kinematics technique in robotic arm.
3. Equipping the robotic arm with tactile sensors ,proximity sensors.
4. Developing the graphical user interface for making the arm more user friendly and
developing a web interface so that arm could be controlled in remote place by
your Web browser.
Acknowledgements
We would like to express our sincere thanks to robotics club,iit Kanpur and our
coordinators
1. Mukul singh
2. Nehchal Jindal
3. Subhojit ghosh
We would also like to thank pranay aggrawal and 4-i lab ,iit Kanpur for their help in
completing the project successfully.
References/Web links
1. For pwm generation through atmega 16 microcontroller
http://enricorossi.org/blog/2010/avr_atmega16_fast_pwm/
2. For developing the graphical user interface using the opencv
The best way to learn opencv is to read the o’reilly’ s book “ Learning OpenCV:computer
vision with opencv library.
http://opencv.willowgarage.com/documentation/highgui._highlevel_gui_and_media_io.htm
http://www.aishack.in/
3. For articles related to robotics and the servo motors
http://www.robosapiens-india.com/cookbook/robotics%20virtual%20book/index.html
http://www.engineersgarage.com/articles/servo-motor
http://www.engineersgarage.com/embedded/avr-microcontroller-projects/atmega16-
servo-motor-circuit