HAND GESTURE CONTROLLED ROBOT USING ARDUINO

Transcription

1 HAND GESTURE CONTROLLED ROBOT USING ARDUINO Vrushab Sakpal 1, Omkar Patil 2, Sagar Bhagat 3, Badar Shaikh 4, Prof.Poonam Patil 5 1,2,3,4,5 Department of Instrumentation Bharati Vidyapeeth C.O.E,Kharghar,Navi Mumbai Abstract -In today s era human-machine interaction is becoming widespread. So, with the introduction of new technologies the gap between machines and humans is being reduced to ease the standard of living. Gestures have played a crucial role in diminishing this gap. This paper deals with design and implementation of an accelerometer based hand gesture controlled robot controlled wirelessly using a small low cost, 3-axis accelerometer. A novel algorithm for gesture identification has been developed to replace the approach of conventional controlling mechanism of robots via buttons etc. by an innovative hand gesture based controlling. Using a microcontroller system the program has been written & executed [1]. Keywords -Arduino Uno, Accelerometer, RF Modules, Motor driver. I. INTRODUCTION In the existing system, human hand movements are sensed by the robot through sensors and it follow the same. As the person moves their hand, the accelerometer also moves accordingly sensor displaces and this sensor senses the parameter according to the position of hand.in this system, a gesture driven robotic vehicle is developed,in which the vehicle movements and manipulations i.e, handling and control is depends on the gesture of the user. In this system, gesture is captured by accelerometer and it is processed by software namely, microcontroller software and the parameters are sent to microcontroller and encoder circuit, It is further transmitted (transmitter section) by RF433 MHZ transmitter. In the receiver section, the RF 433 MHZ receiver holds down the received parameters and process with microcontroller and gives those parameters to the robotic vehicle so that it act accordingly to the gesture.by this system, it is possible to achieve processing of long distance. This system is knowingly developed to apply in medical field for nursing assistance to physicians and in surgeries.[2] II. BLOCK DIAGRAM Transmitter module Figure 1: Block diagram of transmitter module DOI: /IJRTER LS6R 336

2 Accelerometer:- An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depends on the type of the sensor. In accelerometer there is some arrow showing if we tilt these sensors in that direction then the data at that corresponding pin will change in the analog form.[3] Arduino Uno:-Arduino Uno is a microcontroller board based on the ATmega328P (datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.. You can tinker with your UNO without worring too much about doing something wrong, worst case scenario you can replace the chip for a few dollars and start over again. "Uno" means one in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE) were the reference versions of Arduino, now evolved to newer releases. The Uno board is the first in a series of USB Arduino boards, and the reference model for the Arduino platform; for an extensive list of current, past or outdated boards see the Arduino index of boards.[4] RF Transmitter Module(TX):- The transmitter module is working on the frequency of 433MHz and is easily available in the market at nominal cost. In the circuit, vcc pin is connected to the + terminal. The data pin is connected to the HT12E (pin no-1) that is transmitted or we can say that encoded data. The next pin is GND that is connected to the ground terminal. Now the last pin ANT this is connected to a small wire as an All Rights Reserved 337

3 Receiver module Figure 2: Block diagram of receiver module. Motor Driver IC:- A H-bridge is fabricated with four switches like S1, S2, S3 and S4. When the S1 and S4 switches are closed, then a +ve voltage will be applied across the motor. By opening the switches S1 and S4 and closing the switches S2 and S3, this voltage is inverted, allowing invert operation of the motor. [11] RF Receiver Module (RX):- The RF receiver module will receive the data which is transferred by the gesture device. It is also working as similar to the transmitter module- Connect the +Vcc pin to the 5volt terminal. Connect the ground pin to the ground terminal.the data pin is then connected to the HT12D (pin-2).so that we can get the decoded 4 bit All Rights Reserved 338

4 III. OPERATION The handheld controller is a 3D rigid body that can be rotated about the three orthogonal axes. Yaw, pitch and roll are referred to as rotation. These rotation takes place as Z axis is called yaw, the next rotation X-axis is called pitch and last rotation about the Y-axis is called roll. Any orientation can be achieved by the composing those three elemental rotation. In our work, all of the planned hand motions for robot control are simple gestures, each of which contains only one of the three elemental rotations. Gestures composed of more than one elemental rotation are too complicated for such kind of application. Generally, the H-bridge motor driver circuit is used to reverse the direction of the motor and also to break the motor. When the motor comes to a sudden stop, as the terminals of the motor are shorted. Or let the motor run free to a stop, when the motor is detached from the circuit. The table below gives the different operations with the four switches corresponding to the above circuit. [11] Stop Condition When S1=0, S2=1, S3=0, S4=1. This condition commands the robot to stay in stop condition. All Rights Reserved 339

5 Forward Movement When S1=0, S2=0, S3=0, S4=0. This condition commands the robot to move forward. [11] Backward Movement When S1=1, S2=1, S3=1, S4=1. This condition commands the robot to move backward. All Rights Reserved 340

6 Moves Towards Right When S1=1, S2=0, S3=0, S4=1. This condition commands the robot to move towards right. [11] Moves Towards left When S1=0, S2=1, S3=1, S4=0. This condition commands the robot to move towards left. [11] IV. RESULT Transmission through RF (Radio frequency) is better than IR(infrared) because of many reasons. Firstly, signals through RF can travel through larger distances making it suitable for long range applications. Also, while IR mostly operates in line Of sight mode, RF signals can travel even when there is an obstruction between transmitter & receiver. Next, RF transmission is more strong and reliable than IR transmission. RF communication uses a specific frequency unlike IR signals which are affected by other IR emitting sources. This RF module comprises of an RF Transmitter and an All Rights Reserved 341

7 Receiver. The transmitter/receiver (TX/RX) pair operates at a frequency of 433MHz an RF transmitter receives serial data and transmits it wirelessly through RF through its antenna connected at pin4. The transmission occurs at the rate of 1Kbps-10Kbps. The transmitted data is received by an RF receiver operating at the same frequency as that of the transmitted.[9] V. ADVANTAGES 1. Easy to operate 2. Low power consumption 3. User friendly 4. Single equipment, multiple application 5. When extended further in the hardware section,numerous applications can be added[7] VI. APPLICATION 1. These robots are used in military applications to operate robots. 2. These robots are used in medical applications for the purpose of surgery. 3. These robotics are used in the construction field 4. These robotics are used in industries to control trolly and lift. 5. Plays a major role in helping very weak people in their daily life. 6. Can be used as an assistance for physically challenged people. 7. Useful for moving heavy loads from one place to another.[8] VII. FUTURE SCOPE 1. Automated wheel chair can be operated by a wireless remote which can reduce the wiring arrangements. 2. We can use voice command IC s to interface our voice signal with micro-controller. 3. The wheel chair detect the obstacle at the front and stop the movement by ultrasonic sensor.[10] VIII. CONCLUSION In this paper, an automated robot has been developed which works according to your hand gesture. The robot moves wirelessly according to palm gesture. The RF module is working on the frequency of 433 MHz and has a range of meters. This robot can be upgraded to detect human life in earthquake and landslide by implementing the sensor accordingly. It can also be upgraded to bomb detecting robot as it has robotic arm it can also lift the bomb. GPS system can be added to the robot by the help of which its location can be tracked. REFERENCES I. International Journal of Advanced Technology in Engineering and Science Volume No.02, IssueNo.05, May2014 II. Electronic Material And Components P.C. Rao & D.V.Satrawe III. Electronic Circuit & Device Millmen& Halkias IV. V. VI. Volume 4 Issue 3, March 2015 VII. VIII. IX. X. XI. All Rights Reserved 342