The document details a project focused on developing a gesture-enabled robotic arm on a rover aimed at enhancing safety in industries by minimizing human risk during operations. It includes a literature review, project objectives, proposed designs, and a bill of materials that outlines the required components for implementation. The project aims to facilitate intuitive control through gesture recognition, allowing for adaptive and remote operation in hazardous environments.

1. 19MCP401 – PROJECT - II
DEPARTMENT OF MECHATRONICS ENGINEERING
SNS COLLEGE OF TECHNOLOGY
Coimbatore-35
An Autonomous Institution
Accredited by NBA – AICTE and Accredited by NAAC – UGC with ‘A+’ Grade
Approved by AICTE, New Delhi & Affiliated to Anna University, Chennai
GESTURE ENABLED ROBOTIC ARM ON ROVER
FOR PRECISE REMOTE MANIPULATION
1
Team Members
Abivathan J (20MC501)
Dinoo Joel P J (20MC508)
Harinivash P (20MC511)
Mithun K (20MC518)
Project Guide:
Ms P.Radhika M.E,
Assistant Professor,
Department of Mechatronics
Engineering.
FINAL REVIEW

2. PROBLEM IDENTIFICATION
2
Foundry industry accident Chemical industry accident Robotic industry accident
Enhance foundry safety: Replace
handwork with robotic arms to prevent
fire accidents, ensuring precision and
minimizing human risk effectively.
Implementing robotic arms reduces
hand fire accidents, enhancing safety in
the chemical industry by minimizing
human exposure to hazardous conditions.
Enhance robotic arm safety with
alternative controls, eliminating hand
gestures to prevent accidents and improve
user protection in operations.

3. LITERATURE SURVEY
3
S.NO PAPER TITLE AUTHOR NAME INFERENCES
1. Arduino controlled robotic arm(2022) A Bhargava
Robotic arm can be controlled by Arduino
Uno microcontroller which accepts input
signals.
2.
6 Wheeled Mars rover design for terrain traversing,
equipment servicing, astronaut assistance and on-
board testing(2019)
Ebad Zahir
The design of a six wheeled, triangular
shaped chassis, having multi suspension
based rover will enhance the mobility.
3.
Mars Exploration Rover mobility and robotic arm
operational performance(2020)
E. Tunstel
The robotic arm on the rovers provides
various advantages.
4.
ESP32-CAM Video Surveillance Smart
Camera(2021)
Pertab Rai
Camera can be used for object detection
and tracking.
5.
Research of the Gesture Control System for a
Industrial Robot(2023)
C K Gomathy A control system of robot based on hand
gestures can be made.

4. 4
S.NO PAPER TITLE AUTHOR NAME INFERENCES
6.
Robotic arm movements wirelessly synchronized
with human arm movements using real time image
processing.(2021)
A Shaikh, G. Khaladkar
Bluetooth connection can be used to
control the movements of the robotic arm
wirelessly through microcontroller.
7
Accelerometer-based control of an industrial
robotic arm(2020)
P Neto, JN Pires, AP
Moreira
The accelerometers which are attached
to the human arms, capturing its behavior
can be used for controlling the robotic
arm through Bluetooth.
8
Android Application Based Bluetooth Controlled
Robotic Car(2021)
Maity , Avijit Paul
Android application can made for robotic
control with the help of Bluetooth
technology.
9
Real-time robotic hand control using
hand gestures(2020)
JL Raheja, R. Shyam
Human hand movements interacted with
the robotic arm can increase the
accuracy of the function.
10.
Gesture controlled dual six axis robotic arms with
rover using MPU
P. Prakash, K Surya
The six axis of the robotic arm would
increase the area of work space.
LITERATURE SURVEY

5. SUMMARY OF LITERATURE
5
Bluetooth Control:
Android Application Based Bluetooth Controlled Robotic Car.(26 May 2017)
Literature explores using Bluetooth for rover operation in conjunction with a robotic arm.
Gesture Recognition:
Research of the Gesture Control System for a Industrial Robot.( 21-23 July 2023)
Studies focus on recognizing hand gestures for precise robotic arm movements.
The design of a six wheeled:
6 Wheeled Mars rover design for terrain traversing, equipment servicing, astronaut assistance and on-
board testing.(December 2016). The design of a six wheeled, triangular shaped chassis, having multi suspension
based rover will enhance the mobility.
Wireless Integration:
Robotic arm movements wirelessly synchronized with human arm movements using real time image
processing. Research emphasizes wireless communication for rover and arm coordination.
Accelerometer:
Accelerometer-based control of an industrial robotic arm.(march 2009). These accelerometers are attached
to the human arms, capturing its behavior (gestures)

6. OBJECTIVE OF THE PROJECT
6
Gesture
Technology
In Hand Glove
Bluetooth for
Wireless
Connectivity
Robotic arm
Interfaced
with Rover
Technology
Customized
Design

7. EXISTING
7
PROPOSED
 Remotely operated(wired control)
 No Human-Machine Interface only
programmed controls.
 Fixed in same position for performing
repeated tasks.
 Not Adaptive to environment
 Operated using wireless controls with
camera for better visual.
 Human-Machine Interface.
 Gesture recognition which mimics the
movement of the human hand(glove).
 Attached with rover for better mobility
and easily portable.

8. Flex Sensor
Accelerometer
Arduino Nano
Microcontroller
HT12E
Encoder
Transmitter
Bluetooth Module
HC-05
Receiver
Bluetooth Module
HC-05
Arduino UNO
Microcontroller
HT12E
Encoder
Motor controller
drivers
Actuators
Transmitter system
Receiver system
BLOCK DIAGRM OF GLOVE AND ROBOTIC ARM

9. BLOCK DIAGRAM FOR HAND GLOVE
9
Arduino Nano
Board
Accelerometer Flex Sensor
Bluetooth
Module
Battery
Servo Motor Drive
Arduino Uno
Battery
Stepper Motor
Drive
Bluetooth
Module
Servo Motor Stepper Motor
BLOCK DIAGRAM FOR ROBOTIC ARM

10. Transmitter system Receiver system
MPU6050 (Accelerometer)
Flex Sensor
Arduino Nano
Bluetooth Module HC-05
Bluetooth Module HC-05
Arduino UNO R3
Servo Driver, PCA9685
A4988 Stepper Motor Driver
Servo Motors
Stepper Motor
BLOCK DIAGRAM OF GLOVE AND ROBOTIC ARM

11. BILL OF MATERIALS
11
S. No Particulars Size/Range Quantity Cost
1 Servo Motor MG966R Series 06 2600
2 Servo Driver PCA9685 01 700
3 Battery Pack 5V, 2200 mAh 01 500
4 Arduino Uno 01 1000
5 Bluetooth Module HC-05 01 500
6 Breadboard - 01 100
7 Jumper Wires - 20 300
8 Stepper Motor NEMA 17 01 1000
9 Stepper Motor Driver A4988 01 100
10 LiPo 11.1V, 2200mAh, 3s 01 1000

12. 12
S. No Particulars Size/Range Quantity Cost
11 Flex Sensor 2.2 Inch 03 1500
12 Accelerometer MPU6050 02 500
13 Arduino Nano 01 400
14 Resistors 10K 10 50
15 Resistors 220R 10 50
16 3D Printing - - 3000
17 Battery and Battery Clip 9V 01 700
18 Capacitor 100nF 05 10
19 Motor & Motor driver 6V 02 1000
20 Miscellaneous - - 1000
Total Amount (Rs.) 16,010
BILL OF MATERIALS

13. SOFTWARE’s INCORPORATED
13
 Arduino IDE-v2.1.0
 Solid Works 2022
 Easy EDA-v6.5.37

14. MODELLING & DESIGN
14
3D Representation of Robotic Arm with Rover

15. 15
DIMENSIONS
This illustration displays a
comprehensive 2D drawing
of the ‘Robotic Arm’,
which shows a dimensions
for all sides and all the
dimensions are in ‘mm’.
Scale : 1:5
Front View
Left Side View
Top View

16. 16
DIMENSIONS
This illustration displays a
comprehensive 2D drawing
of the ‘Gripper’, which
shows a dimensions for all
sides and all the dimensions
are in ‘mm’. Scale : 1:5
Front View
Left Side View
Top View

17. DIMENSIONS
17
This illustration displays a
comprehensive 2D drawing
of the ‘Turntable’, which
shows a dimensions for all
sides and all the dimensions
are in ‘mm’. Scale : 1:5
Front View
Top View

18. 18
DIMENSIONS
This illustration displays a
comprehensive 2D drawing
of the ‘Full Assembly of
Robotic Arm with Rover’,
which shows a dimensions
for all sides and all the
dimensions are in ‘mm’.
Scale : 1:20
Front View
Left Side View
Top View

19. 19
PROJECT PHOTOS

20. PROJECT PHOTOS
20

21. WORKING VIDEO
21

22. Work Done - Phase -I
22
 Problem Statement Identification
 Literature Review
 3D Modeling of the Prototype
 Identification of Technology
Work Done - Phase -II
 3D Printing of the components and Product Development
 Assembling and testing the Robotic Arm and Rover system
 Analyzing the results and upgradation of the product
 Implementing and testing a Robotic Arm Control System and Rover
 SCOPUS Journal Publication
 Patent Publication

23. PATENT APPLICATION STATUS
23

24. SCOPUS PUBLICATION
Paper ID: ICITMSEE24/MECH/40 ISBN number 9788195129980
24

25. EXPECTED OUTCOME
Enhanced
Control
Gesture control
can offer more
intuitive and
precise
manipulation of
the robotic arm,
allowing
operators to
control it with
natural
movements.
Remote
Operations
Gesture control
could facilitate
remote
operation of the
robotic arm on
the rover,
allowing
operators to
control it from a
distance without
direct physical
contact.
Adaptability
Depending on
the complexity
of the gesture
recognition
system, the
robotic arm
could be
programmed to
recognize a
variety of
gestures,
increasing its
adaptability to
different tasks
and
environments
Exploration and
Research
Such
technology
could be
particularly
useful in
hazardous
environments
on Earth,
allowing for
safer and more
precise
manipulation of
objects or
specimens
without risking
human safety.
Innovation and
Advancements
Implementing
gesture control
on a robotic arm
for a rover
represents a
step forward in
human-robot
interaction
technology,
potentially
leading to
further
advancements
in this field.
25

26. References
26
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Industrial Applications.” International Journal of Scientific Research. vol. 03, Issue. 04, pp. 202- 209,
2016.
2. R. A. Brooks, “New Approaches to Robotics,” Science, vol. 253, PP. 1227- 1232, 1991.
3. A. Mora et al., "Speed digital control for scale car via Bluetooth and Android," 2015 CHILEAN
Conference on Electrical, Electronics Engineering, Information and Communication Technologies, pp.
129-134, 2015. doi: 10.1109/Chilecon.2015.7400364.
4. R. Krishna et al., “Design and implementation of a robotic arm based on haptic technology,” Int. J.
of Eng.
Research, Vol. 2, Issue 3, pp. 3098-3103, 2012.
5. A. M. Al-Busaidi, "Development of an educational environment for online control of a biped robot
using
MATLAB and Arduino," 2012 9th France-Japan & 7th Europe-Asia Congress on Mechatronics / 13th
Int'l Workshop on Research and Education in Mechatronics (REM), 2012, pp. 337-344.
6. A. D. Luca and G. Oriolo, “Reconfiguration of redundant robots under kinematic inversion,”
Advanced
Robotics, pp. 249-263, 2012. DOI: 10.1163/156855395X00382
7. M. Ceccarelli, “Fundamentals of Mechanics of Robotic Manipulation,” Kluwer, Dordrecht. 2016.
8. S. Verma, “Android App Controlled Bluetooth Robot,” International Journal of Computer
Applications,
International Journal of Computer Applications, pp. 0975 – 8887, vol. 152 – no. 9, 2016.
9. M. Quigley et al., “ROS: an open-source Robot Operating System," in Proc. Open-Source Software
workshop of the International Conference on Robotics and Automation, Kobe, Japan, 2009.

27. 27
11. A. Ghiet, and A. Baba, “ROBOT ARM CONTROL WITH ARDUINO,” 2017.
doi:10.13140/RG.2.2.10227.53286.
12. C. M. Gosselin, "The optimum design of robotic manipulators using dexterity indices, Robotics and
Autonomous Systems," vol. 9, Issue 4, pp213-226,1992. https://doi.org/10.1016/0921-8890(92)90039-2.
13. Ranjan, Rajeev. "Speaker Recognition and Performance Comparison based on Machine Learning."
Turkish Journal of Computer and Mathematics Education (TURCOMAT) 12, no. 14 (2021): 2297-2306.
14. Ranjan, R., Jindal, N. & Singh, A.K. The identities of n-dimensional s-transform and applications.
Multimed Tools Appl 81, 16661–16677 (2022). https://doi.org/10.1007/s11042-022-12757-8.
15. Ranjan, Rajeev, Neeru Jindal, and A. K. Singh. "Multiplicative Filter Design Using S-Transform." In
2018 2nd International Conference on Micro-Electronics and Telecommunication Engineering (ICMETE),
pp. 260-263. IEEE, 2018.
16. Thakur, Abhishek, and Rajeev Ranjan. "Image Segmentation and Semantic Labeling using Machine
Learning." International Journal of Recent Technology and Engineering 7, no. 5S2 (2019).
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comprehensive survey." Wireless Personal Communications 113, no. 4 (2020): 2519-2541.
18. Ranjan, Rajeev, Neeru Jindal, and A. K. Singh. "A sampling theorem with error estimation for S-
transform." Integral Transforms and Special Functions 30, no. 6 (2019): 471-491
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Robotics, pp. 249-263, 2012. DOI: 10.1163/156855395X00382
20. M. Quigley et al., “ROS: an open-source Robot Operating System," in Proc. Open-Source Software
workshop of the International Conference on Robotics and Automation, Kobe, Japan, 2009.
References

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