Wireless gesture controlled robotic arm

WIRELESS GESTURE CONTROLLED
ROBOTIC ARM
GROUPMEMBERS:
Sneha Daise Paulson - 40
Niloofer Abdul Jaleel - 23
Singh Pooja Kumari - 39
Sruthy Mohan - 44
1W. GESTURE CONTROLLED ROBOTIC ARM

INTRODUCTION
Now a days robots are increasingly being integrated into working
tasks to replace humans esp. to perform the repetitive task.
In worst case scenario, humans pick and place the bomb
somewhere for containment and for repeated pick and place
action in industries.
Therefore a human can be replaced by Robot to do work.

Human hand gestures-easier to interact with the robot.
Moves depending on the gesture made by your hand from a
distance.
Areas of
application:
• Medical science
• Surgeries
• Defense

BLOCK DIAGRAM:
•TRANSMITTER :

RECEIVER:
TRACTION MOVEMENT:
ARM CONTROL:

Useful for
sensing
vibrations in
systems.
Contain
capacitive
plates.
Some are fixed, while
others are attached to
miniscule springs that
move as acceleration
forces, act upon the
sensor.
As these plates move in relation to each other,
the capacitance between them changes. From these
changes, the acceleration can be determined.
They can be centered
on piezoelectric
materials. These tiny
crystal structures
output electrical
charge when placed
under mechanical
stress.
DESCRIPTION OF BLOCK DIAGRAM:
1. ACCELEROMETER:

VDD- give +5volt to this pin
GND- Connect this pin to the ground for biasing.
X- On this pin we will receive the analog data for x direction movement.
Y- On this pin we will receive the analog data for y direction movement.
Z- On this pin we will receive the analog data for z direction movement.
ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.
The Accelerometer having 6 pin –

Gestures
for
platform
parallel to the
ground- stop
tilted
forward –
forward
movement
tilted
backward -
backward
movement
tilted towards
right – moves
towards right
tilted
towards left
- moves
towards left

Gestures
for arm
Hand
parallel to
the ground
- no
movement
Hand tilted
right – arm
widens
Hand tilted
left – arm
closes

2. RF TRANSCIEVER MODEM
•Working at 2.4 GHz frequency in half duplex mode with automatic
switching of receive/transmit mode with LED indication.
• Receives and Transmits serial data of adjustable baud rate of 9600/115200
bps
• Stable, small size, easier mounting.
• RF range 50-70 meters
• GND: Common Ground
• +3.3V/5V : Regulated positive power input 3.3V to 5V DC
• TX : Transmit Output
• RX : Receive Input
PIN DESCRIPTIONS:

3. MICROCONTROLLER (PIC16F877A)
• Operating speed: DC – 20 MHz clock input
• Up to 8K x 14 words of Flash Program Memory,
• Up to 368 x 8 bytes of Data Memory (RAM),
• Up to 256 x 8 bytes of EEPROM Data Memory
The processing is the most important part of the robot.
Peripheral Features:
• Timer0: 8-bit timer/counter with 8-bit prescaler
• Timer1: 16-bit timer/counter with prescaler
• Timer2: 8-bit timer/counter with prescaler and postscaler

• - Capture is 16-bit, max. resolution is 12.5 ns
• - Compare is 16-bit, max. resolution is 200 ns
• - PWM max. resolution is 10-bit
Two Capture, Compare, PWM modules
• Synchronous Serial Port (SSP) with SPI™ (Master mode) and
I2C™ (Master/Slave)
• Universal Synchronous Asynchronous Receiver Transmitter
(USART/SCI) with 9-bit address detection
• Parallel Slave Port (PSP) – 8 bits wide with external RD, WR and
CS controls (40/44-pin only)
• Brown-out detection circuitry for Brown-out Reset (BOR)

• 10-bit, up to 8-channel Analog-to-Digital Converter (A/D)
• Brown-out Reset (BOR)
• - Two analog comparators
• - Programmable on-chip voltage reference (VREF) module
• - Programmable input multiplexing from device inputs and
internal voltage reference
• - Comparator outputs are externally accessible
• Analog Comparator module with:
Analog Features:

• 100,000 erase/write cycle Enhanced Flash program memory
typical
• 1,000,000 erase/write cycle Data EEPROM memory typical
• Data EEPROM Retention > 40 years
• Self-reprogrammable under software control
• In-Circuit Serial Programming™ (ICSP™) via two pins
• Single-supply 5V In-Circuit Serial Programming
• Watchdog Timer (WDT) with its own on-chip RC oscillator
for reliable operation
• Programmable code protection
• Power saving Sleep mode
• Selectable oscillator options
• In-Circuit Debug (ICD) via two pins
Special Microcontroller
Features:

4. ACTUATOR(L293D)
H-Bridge base Motor Driver IC
The driver IC L293D is quad push-pull
drivers capable of delivering output
currents to 1A per channel respectively.
Accepts TTL logic levels
Drives inductive loads (DC motors)
Each channel has enable input

W. GESTURE CONTROLLED ROBOTIC ARM 16
5. ACTUATION
The "muscles" of a mechanical arm, the
parts which convert stored energy into
movement.
Most popular actuators are electric motors
that spin a wheel or gear, and linear
actuators that control industrial mechanical
arm in factors.
But there are some recent advances in
alternative types of actuators, powered by
electricity, chemicals, or compressed air.

is a robot manipulator, programmable with
similar functions to a human arm.
The end effectors can be designed to perform
any desired task such as, gripping, spinning
etc, depending on the application.
6. ROBOTIC ARM

7. LCD DISPLAY (LM016L)

ALGORITHM
We are going to discuss:
1. Transmitter side algorithm
2. Receiver side algorithm

START
INITIALIZE PIC
INITIALIZE LCD
DISPLAY INITIAL MESSAGE
CHECK
MODE
SWITCH
DO ADC FOR X
VALUE
>Z FOR
‘F’
MOTION
TEXT ‘F’
MOTION
COMMAND
>Z FOR
‘B’
MOTION
TEXT ‘B’
MOTION
COMMAND
A
B
DO ADC FOR
X VALUE
>Z FOR
‘H’
MOTION
TEXT ‘H’
MOTION
COMMAND
>Z FOR
‘O’
MOTION
TEXT ‘O’
MOTION
COMMAND
B
YES
YES YES
YESYES
NO
NO NO
NO NO
NO
NO
TRANSMITTER SIDE ALGORITHM

A
DO ADC FOR
Y VALUE
>Z FOR
‘L’
MOTION
TEXT ‘L’
MOTION
COMMAND
>Z FOR
‘R’
MOTION
TEXT ‘R’
MOTION
COMMAND
B
NO
NO
NO
YES
YES
<Z FOR ‘B’
MOTION &
<Z FOR ‘F’
MOTION
TEXT ‘S’
COMMAND
YES
NO

RECEIVER SIDE ALGORITHM
START
INITIALIZE PIC
RECEPTION
CHECK
CHECK MODE
SET
MODE
CHECK ‘H’
COMMAND
CHECK ‘U’
COMMAND
DRIVE HOLD
MOTOR
ANTICLOCK-
WISE
CHECK
ARM OPEN
SENSOR
STOP HOLD
MOTOR
C
C
DRIVE HOLD
MOTOR
CLOCKWISE
CHECK
PROXIMIT
Y SWITCH
STOP HOLD
MOTOR
C
D
YES
YES
YES
NO
YES
C
NOYES
NO
NO
ARM
MODE TRACTION
MODE
NO

D
CHECK ‘F’
COMMAND
CHECK ‘B’
COMMAND
CHECK ‘L’
COMMAND
CHECK ‘R’
COMMAND
CHECK ‘S’
COMMAND
DRIVE ROBOT
MOTOR
FORWARD
DRIVE ROBOT
MOTOR
BACKWARD
DRIVE ROBOT
MOTOR LEFT
DRIVE ROBOT
MOTOR RIGHT
STOP
ROBOT C
YES
YES
YES
YES
YES
NO
NO
NO
NO

TRANSMITTER SIDE CIRCUIT DIAGRAM

RECEIVER SIDE CIRCUIT DIAGRAM

PCB LAYOUTS

TRANSMITTER

RECEIVER

PROGRAM CODES

CURRENT STATUS

Finally……
Thanks to The
Almighty GOD….
Thanks to all the
teachers for guiding us.
Thanks to our families
and….Thanks to
our friends

Wireless gesture controlled robotic arm

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Wireless gesture controlled robotic arm