Gesture controlled robotic arm

Robotics is a current emerging technology in the field of science which deals with designing, modeling, controlling and robot’s utilization. A number of universities in world are working in this field. Robotics is the new emerging field, which will be of great use to society in the coming years. These days many types of robots are being developed and are put to varied applications and uses. Here a robotic arm is made which is operated & controlled by the hand gestures which transmit signals to the robot through an auto device fixed on the gloves put on hands rather than controlling it manually through a conventional remote controller. The Robot moves and acts in the manner depending on the gestures made by the fingers and hand from a distance. The robot moves in up, down, left or right directions and picks up objects from one place and keeps at another desired place as directed by the movements of fingers and hand.    Before starting the project a lot of studies were made on the gesture control robotic arm.

1.2 Objectives

To design a robotic arm that should be able to

·         Move according to hand gesture.

·         Pick light weighted object.

·         displace object.

1.3 Motivation

      To learn about gesture sensing system and actuation which gives a kick-start on understanding of humanoid robots.

1.4  Applications

·         Hand gesture controlled robot can be used by physically challenged in wheelchairs.

·         Hand gesture controlled industrial grade robotic arm can be developed.

Control of various functions of robots in arduous and dusty atmospheres industrial jobs as in painting shops, shot blasting chambers etc.

TECHNOLOGY AND LITERATURE SURVEY

2.1 Flex Sensor

Flex is basically a strip of carbon material having metal pads inside it. As the sensor is flexed the resistance across the sensor increases. The resistance of the flex sensor changes when the metal pads are on the outside of the bend. The resistance of the flex sensor changes when the metal pads are on the outside of the bend ,this resistance was calibrated and converted into angles and further used for the grabbing purpose.

                                                        

          

                                                      Figure 1: Flex Sensor 

      

2.2 Servo Motor

A Servo Motor is a Rotary Actuator that allows for precise control of Angular or linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. These are used in industrial applications, Robotics, in-line manufacturing, pharmaceutics and food services.

                                                     

fig2.servo motor

2.3 Accelerometer and Gyroscope

Accelerometer is a device used for the measurement of acceleration forces. There are different types of accelerometer based on sensing elements and the principle of their operations. It is basically Micro Electro Mechanical Sensor. It can measure the acceleration of the device in context to the different dimensions and consume a lot of energy.

Gyroscope is a device which is used to measure or maintain orientation .It works on the principle of conservation of angular momentum. It is a spinning wheel or disc in which the axis of rotation is free to assume any orientation by itself. It can be used to construct gyrocompasses, which complement or replace magnetic compasses (in ships, aircraft and spacecraft).

                                                 

Figure 3: Accelerometer and Gyroscope(MPU6050) 

                      System Analysis

3.1 Block Diagram

                                                                

                                                           fig4.block diagram of system

DISCRIPTION

For gesture sensing system, we are planning to use flex sensor as it can sense bending action. Furthermore, accelerometer-gyroscope can be used to detect tilting action.

For communication channel, we are planning to use RF transmitter and receiver manipulated by microcontroller.

For actuation, we are planning to use motors and plastic mechanical arm.