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Wireless gesture controlled robotic arm

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Beyond controlling the robotic system through physical devices, recent method of gesture control has become very popular. The main purpose of using gestures is that it provides a more natural way of controlling and provides a rich and intuitive form of interaction with the robotic system.

Published in: Engineering
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Wireless gesture controlled robotic arm

  1. 1. 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
  2. 2. 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. 2W. GESTURE CONTROLLED ROBOTIC ARM
  3. 3. 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 3W. GESTURE CONTROLLED ROBOTIC ARM
  4. 4. BLOCK DIAGRAM: •TRANSMITTER : 4W. GESTURE CONTROLLED ROBOTIC ARM
  5. 5. RECEIVER: TRACTION MOVEMENT: ARM CONTROL: 5W. GESTURE CONTROLLED ROBOTIC ARM
  6. 6. 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. 6W. GESTURE CONTROLLED ROBOTIC ARM DESCRIPTION OF BLOCK DIAGRAM: 1. ACCELEROMETER:
  7. 7. 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. 7W. GESTURE CONTROLLED ROBOTIC ARM The Accelerometer having 6 pin –
  8. 8. 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 8W. GESTURE CONTROLLED ROBOTIC ARM
  9. 9. Gestures for arm Hand parallel to the ground - no movement Hand tilted right – arm widens Hand tilted left – arm closes 9W. GESTURE CONTROLLED ROBOTIC ARM
  10. 10. 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: 10W. GESTURE CONTROLLED ROBOTIC ARM
  11. 11. 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 11W. GESTURE CONTROLLED ROBOTIC ARM
  12. 12. • - 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) 12W. GESTURE CONTROLLED ROBOTIC ARM
  13. 13. • 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: 13W. GESTURE CONTROLLED ROBOTIC ARM Analog Features:
  14. 14. • 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: 14W. GESTURE CONTROLLED ROBOTIC ARM
  15. 15. 15W. GESTURE CONTROLLED ROBOTIC ARM 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
  16. 16. 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.
  17. 17. 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. 17W. GESTURE CONTROLLED ROBOTIC ARM 6. ROBOTIC ARM
  18. 18. W. GESTURE CONTROLLED ROBOTIC ARM 18 7. LCD DISPLAY (LM016L)
  19. 19. ALGORITHM We are going to discuss: 1. Transmitter side algorithm 2. Receiver side algorithm 19W. GESTURE CONTROLLED ROBOTIC ARM
  20. 20. 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 20W. GESTURE CONTROLLED ROBOTIC ARM
  21. 21. 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 21W. GESTURE CONTROLLED ROBOTIC ARM
  22. 22. 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 22W. GESTURE CONTROLLED ROBOTIC ARM
  23. 23. 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 23W. GESTURE CONTROLLED ROBOTIC ARM
  24. 24. W. GESTURE CONTROLLED ROBOTIC ARM 24 TRANSMITTER SIDE CIRCUIT DIAGRAM
  25. 25. W. GESTURE CONTROLLED ROBOTIC ARM 25 RECEIVER SIDE CIRCUIT DIAGRAM
  26. 26. W. GESTURE CONTROLLED ROBOTIC ARM 26 PCB LAYOUTS
  27. 27. W. GESTURE CONTROLLED ROBOTIC ARM 27 TRANSMITTER
  28. 28. W. GESTURE CONTROLLED ROBOTIC ARM 28 RECEIVER
  29. 29. PROGRAM CODES 29W. GESTURE CONTROLLED ROBOTIC ARM
  30. 30. W. GESTURE CONTROLLED ROBOTIC ARM 30 CURRENT STATUS
  31. 31. 31W. GESTURE CONTROLLED ROBOTIC ARM Finally…… Thanks to The Almighty GOD…. Thanks to all the teachers for guiding us. Thanks to our families and….Thanks to our friends

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