Gesture Controlled Robotic Arm

Project Title

Gesture Controlled Robotic Arm

Project Area of Specialization Artificial IntelligenceProject Summary

• The wireless hand gesture controlled robotic arm is a wireless system that can convey the information between two or more points and it is not physically connected by any electrical conductors. It will convey movement information from a real person's hand to the robotic arm wirelessly.
• Some common controllers used to control a robotic arm system include mouse controllers, keyboard controllers, joystick controllers, keypad controllers and so on. Although all of these controllers are the most common controller to control a robotic arm system, there are still some difficulties to use these controllers. The objective is to ease the control of the robotic arm with hand gesture by using flex bend sensors and servo motors for humanitarian aid purposes.
• Two Arduino NANO is used, one on the real person's hand and the other on the robotic arm as the microcontroller in this project since it is easy to change and the programming language of this microcontroller is more familiar rather than other microcontrollers.
• A pair of NRF24L01 transceiver module is used for the wireless communication between both Arduino NANO microcontrollers. This project results in a much easier and reliable controlling method of the robotic arm.
• We are living in a world where industries are always striving forward in the areas where they appreciate the technological advances and trying to find newer ways to increase their yield and production. As a result, their revenues will be increased and they can invest in other businesses as well. Fundamentally, it’s the business they are trying to take forward.
• Therefore, for the luxuries they can get with less hard work and for this smart systems are developed and established all over the world to make commercial production easier. However, in Pakistan being a third-world country we are unable to achieve better results due to the lack of proper attention given in this sector of the country.
• One of the areas which has been very affected by the improper handling of the situation by the leaders is the process of the industrialization. The country does also need investment in the industrial sector.
• Manipulator plays an important role in industry it makes our live easier and better, it accompany people in everyday life and takeover their daily routine. This project presents the design and implementation of manipulator which is aimed to be used for handling hazardous materials.
• Manipulator is designed on the basis of kinematic arrangements and it can be controlled through teleoperators (master/slave). Here the manipulator (slave) movements are controlled by Hand Gesture (master) using MPU6050 and flex sensor from a distant location using a blue tooth wireless modules.
  • To increase the workspace a robotic car is being used here and it is providing a transitional motions and their movements are controlled by Android using a blue tooth wireless modules.

Project Objectives

 Objective:

• The aim of the project is to develop a human machine interface used for control robot arm. Our objective is to make this device simple as well as cheap so it can be produced and used for number of purposes. The objective of this project is to build a car that can be controlled by gesture wirelessly.
• In this project user is also able to control motions of the car by wearing controller glove and performing predefined gestures. This can be also used in many potential applications such as wireless controller car racing etc.

The aim of the project is to develop a human machine interface used for control robot arm. Our objective is to make this device simple as well as cheap so it can be produced and used for number of purposes. The objective of this project is to build a car that can be controlled by gesture wirelessly. In this project user is also able to control motions of the car by wearing controller glove and performing predefined gestures. This can be also used in many potential applications such as wireless controller car racing etc.

Scope

•  Wireless controlled robots are very useful in many applications like remote surveillance, military etc. · Hand gesture controlled robot can be used by physically challenged in wheelchairs.
•   Hand gesture controlled industrial grade robotic arms can be developed.
•  Entertainment applications – Most videogames today are played either on game consoles, arcade units or PCs, and all require a combination of input devices. Gesture recognition can be used to truly immerse a players in the game world like never before.
•  Automation systems – In homes, offices, transport vehicles and more, gesture recognition can be incorporated to greatly increase usability and reduce the resources necessary to create primary or secondary input systems like remote controls, car entertainment systems with buttons or similar.
•  An easier life for the disabled – One of the biggest challenges faced today is providing separate and equally non cumbersome services to the differently abled and handicapped. While there are special provisions around the world, there’s still huge room for improvement to bring all lives on equal footing. Gesture recognition technology can eliminate a lot of manual labor and make life much easier for those who aren’t as fortunate as most of us are.

Project Implementation Method 3.1 Research /System Methodology 

Phase-I

Project Initiation Phase:

1. Project Proposal

2. Gantt Chart & Project Charter

3. Brief Analysis of FYP outcomes

4. Software/Hardware Requirements

5. Video and Pictures – Tentative

6. General features of Projects – (Flow Diagram)

Phase–II

1. Project Execution & Control Phase

2. Use Cases

3. Process Flow Diagram

4. Class Diagrams

5. Complete

6. Complete normalized ER diagram

7. DFD, Queries w.r.t output and results found

8. Main functional classes

Phase-III 

Mid-Year Project Presentation (Project Code Completion):

1. Working Software/Project.
2. Working on master/slave communication.
3. Data saved on the master device.

Phase-1V 

Testing & Evaluation Phase

1. Load Testing
2. Performance Testing
3. Unit Testing
4. Integration Testing
5. Functional Testing

Phase-V

Project Closing

Project Display and Final Evaluation

Benefits of the Project

The actuators are used in this project are not well enough to lift heavy parts it can be replaced by dynamixel actuators so then it will work more efficiently, the gripper can also be replaced by universal gripper so then it will be capable to do multiple tasks, the mechanical design can be improved by work on its dynamics so that it will become more efficient as well as reliable to work in hazardous environment. Moreover, the research is going on to use brain signal Electroencephalogram (EEG) to control the robotic arm so that it will be beneficial for handicapped people. PID controller or many different schemes can be applied to make the manipulator efficient for increasing the range wireless communication channel HC-12 can be used in place of HC-05 because it has more than 1 km range. Moreover, we can convert into an internet of things, then we will able to use it from anywhere. The research is also going on to make it intelligent enough to make decisions about the task it performs.

Technical Details of Final Deliverable

1. MPU-6050 Accelerometer + Gyro (sensor)

The sensor MPU-6050 consists of gyro and an accelerometer which provides high accuracy because of the hardware of 16-bits analog to digital conversion for every channel due to this  it can capture x, y and z within exact time.The sensor uses the I2C-bus to interface with the Arduino.

2. Robotic Glove

It consist of flex sensor, MPU-6050 & wireless transmitter which transfer the data of accelerometer & gyroscope where the values are combined and processed simultaneously, at the same time the flex sensor is doing its job by sending the degree of movement of the finger to controller.

3. Bluetooth module (Master/Slave)

HC-05 and HC -06 are the Bluetooth modules. HC-06 is only a slave module but HC-05 can operate as either a master device or a slave device. It is a slave by default, but it can be re- configured as a master device via AT commands (Module initialized as Data mode by default). To enter into the AT command mode we need to press the push button on the module.

5. Servo Motor

Servo motor can be differentiate from DC/AC or stepper motors that they remain static on a place is used to grip any object, whereas AC/DC motors are rotatory. The usage of servo motors is where no rotation is required so they just hold an object and transfer from one place to another.

6. ARDUINO HARDWARE
Arduino is an open source hardware and software it is a platform which is helping electronic field by providing enough microcontroller and its kits with the purpose of building such devices that can control and sense objects.
Arduino board designs uses a variety of controllers and processors. 
7. H Bridge

The L298N is an H Bridge integrated circuit having a 15- lead Multiwatt and Power packages. It is a  high current, high voltage dual full-bridge driver designed to accept standard TTL  logic level sand drive inductive loads such as  stepping motors, solenoids, DC and relays. 

8. DC Gear Motor

We are using Dc motor which a high power, 12v brushed dc motor having a 46:85:1 gearbox. The gear motor is cylindrical, with a diameter just under the 25 mm, and the D shaped.

9. Flex Sensor

For measuring the level of bend or angular deflection a sensor named flex sensor is used. There is variable surface in a flex sensor called resistive which varies with the bending of sensor accordingly

10. Ultrasonic Sensor

 Ultrasonic sensor is mainly used for microprocessors and microcontrollers such as AVR, PIC, Raspberry Pi, etc. The following guide is universal because it must be followed regardless of the type of computer equipment used. Regulated 5v is supplied to the sensors; power through the sensors’ VCC and ground pins.

Final Deliverable of the Project Hardware SystemCore Industry TransportationOther Industries IT , Manufacturing Core Technology Artificial Intelligence(AI)Other Technologies Internet of Things (IoT), RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	46210
Mg996R 6 Servo	Equipment	6	1050	6300
Flex Sensor di robot 6 inch	Equipment	1	6300	6300
Robotic Arm Aluminum Body Mpo6050	Equipment	1	13000	13000
Lithium Batteries	Equipment	4	500	2000
Arduino Nano	Equipment	1	700	700
Pcb Robotic Glove	Equipment	1	700	700
Robotic Gloves	Equipment	1	800	800
6v 4 amp Battery	Equipment	1	870	870
3.7v 2 amp cell	Equipment	6	140	840
Robotic Car acrylic model 3mm	Equipment	1	4500	4500
L298 driver with gears mothers	Equipment	1	1200	1200
Ultrasonic Sensor	Equipment	1	300	300
Hc05 and hc06	Equipment	2	700	1400
Wheels and Tyer	Equipment	4	375	1500
arduin 650	Equipment	3	800	2400
Thesis Report 1	Miscellaneous	1	500	500
Thesis Report 2	Miscellaneous	2	600	1200
Final Thesis Report	Miscellaneous	1	1700	1700