wireless gesture controlled robotic arm

WIRELESS GESTURE CONTROLLED ROBOTIC ARM

GROUP MEMBERS:

Sneha Daise Paulson - 40

Niloofer Abdul Jaleel - 23

Singh Pooja Kumari - 39

Sruthy Mohan - 441W. 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.

2W. GESTURE CONTROLLED ROBOTIC ARM

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:

http://3.bp.blogspot.com/-geileThx7nU/T5xoWCFwt6I/AAAAAAAAAXg/MV4PVsmgLIg/s1600/5041671737_a17bcfeb6a.jpg

http://3.bp.blogspot.com/-geileThx7nU/T5xoWCFwt6I/AAAAAAAAAXg/MV4PVsmgLIg/s1600/5041671737_a17bcfeb6a.jpg

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 postscaler11W. GESTURE CONTROLLED ROBOTIC ARM

• - 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.

http://en.wikipedia.org/wiki/Muscle

http://en.wikipedia.org/wiki/Potential_energy

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

NONO

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

Engineering