Muhammad Burhan Hani

HUMAN GESTURE CONTROLLED ROBOTIC ARM by M.Burhan Hani EE103135 A Project Report submitted to the DEPARTMENT OF ELECTRICAL ENGINEERING in partial fulfillment of the requirements for the degree of BACHELORS OF SCIENCE IN ELECTRONIC ENGINEERING Faculty of Engineering Mohammad Ali Jinnah University Islamabad August, 2015 ` Copyright  2015 by MAJU Student All rights reserved. Reproduction in whole or in part in any form requires the prior written permission of M.Burhan Hani, M.Usama Qureshi and Shaban Manzoor or designated representative Mr.Umer Maqbool. ii ` We are dedicating our work to Mr. Umar Maqbool as he showed his keen interest in our project and gave us an opportunity to enhance our knowledge and encourage us. We also dedicate our work to our parents as their intentions for our bright future made courage in us to do this job. iii ` DECLARATION It is declared that this is an original piece of my own work, except where otherwise acknowledged in text and references. This work has not been submitted in any form for another degree or diploma at any university or other institution for tertiary education and shall not be submitted by me in future for obtaining any degree from this or any other University or Institution. M.Burhan Hani EE103135 August, 2015 iv ` C E R T IF IC AT E O F AP P R O VAL It is certified that the project titled “Human Gesture Controlled Robotic Arm” carried out by of M.Burhan Hani EE103135, M.Usama Qureshi EE113090 and Shaban Manzoor EE113071 under the supervision of Mr. Umar Maqbool, Mohammad Ali Jinnah University, Islamabad, is fully adequate in scope and in quality as a final year project for the degree of BS of Electronic Engineering. Supervisor: ------------------------Mr. Umer Maqbool Assistant Professor Dept. of Electrical Engineering Faculty of Engineering Mohammad Ali Jinnah University, Islamabad HOD: ---------------------------- Dr. Imtiaz Ahmad Taj Professor Dept. of Electrical Engineering Faculty of Engineering Mohammad Ali Jinnah University, Islamabad v ` ACKNOWLEDGMENT We have a great pleasure in presenting this project report on “HUMAN GESTURE CONTROLLED ROBOTIC ARM” and to express our deep regard to towards those who have offered their valuable time & guidance in our hour of need. Firstly we express our sincere gratitude to Mentor, the guide of the project who carefully and patiently tended his valuable time and effort to give directions as well as to correct various documents with attention and care. It has been a great honor to do this project in this venerated institution and we would extend our thanks to Mr. Umer Maqbool who have shared their vast knowledge and experience and guided us till the end. We do also like to appreciate the consideration of the Faculty members and colleagues which enabled us to balance our work along with this project. It was their attitude that inspired us to do such an efficient and relevant work. We wish to avail this opportunity to express a sense of gratitude and love to all our friends and our family for their untiring support, strength, help and in short for everything they have done during the crucial times of the progress of our project. M.Burhan Hani (EE103135) 1 ` ABSTRACT Now a day’s robots are controlled by remote, cell phone, or keyboard etc. so we design a robot that can be controlled by hand gestures and not the old fashioned way by using the buttons. The user just needs to wear a small transmitting device on his hand, which includes a sensor that is an accelerometer in our case. If we think about cost and required hardware’s all this things increases the complexity, especially for low level application. We used aluminum material for the Robot’s base. As this is only a prototype robot, so we didn’t use actual fire proof material. Now the robot that we have designed is different from others. It does not require any type of type of complex keys or joysticks. It is a robot which is controlled by accelerometer and a gyroscope which drives itself according to position of both the sensors. 2 ` TABLE OF CONTENTS Acknowledgment ..................................................................................................... 1 Abstract. ................................................................................................................... 2 Table of Contents ..................................................................................................... 3 List of Figures .......................................................................................................... 5 List of Tables ........................................................................................................... 5 List of Acronyms/Abbreviations.............................................................................. 6 Chapter 1 .....................................................................................7 Introduction .....................................................................................7 1.1 Objective ...................................................................................................... 7 1.2 Overview ...................................................................................................... 7 1.3 Statement of Problem................................................................................... 7 1.4 Specifications of proposed Solution ............................................................ 8 1.5 Purpose of the project .................................................................................. 8 1.6 Applications of the project ........................................................................... 8 1.7 Project Plan .................................................................................................. 9 1.8 Report Organization ................................................................................... 11 Chapter 2 ................................................................................... 12 Literature review............................................................................ 12 2.1 2.2 Related Technologies ................................................................................. 12 2.1.1 Related Technology 1 .............................................................. 12 2.1.2 Related Technology 2 .............................................................. 12 Related Projects.......................................................................................... 13 2.2.1 Automated Guided Vehicle...................................................... 13 2.3 2.2.2 Line Follower Robotic Vehicle……………………………….14 Related Studies........................................................................................... 16 2.3 Limitations and Bottlenecks ...................................................................... 17 2.4 Summary .................................................................................................... 17 Chapter 3 ................................................................................... 18 Project Design and Implementation ................................................ 18 3.1 Design of Project Hardware/ Software ...................................................... 18 3.2 Implementation procedure ......................................................................... 19 3.3 Details about hardware............................................................................... 20 3 ` 3.4 Details about software/ algorithms ............................................................ 21 3.5 Details about simulation / mathematical modeling .................................... 21 3.6 Details of working design prototype .......................................................... 22 3.7 Summary .................................................................................................... 23 Chapter 4 ................................................................................... 24 Tools and Techniques …………. ................................................... 24 4.1 Hardware used with technical specifications ............................................. 24 4.1.1 Arduino Controller ................................................................... 24 4.1.2 Servo Motors............................................................................ 25 4.1.3 Accelerometer .......................................................................... 26 4.1.4 RF Module ............................................................................... 26 4.2 Software(s), simulation tool(s) used .......................................................... 29 4.3 Summary .................................................................................................... 30 Chapter 5 ................................................................................... 31 Project Results & Evaluation .......................................................... 31 5.1 Presentation of the findings ....................................................................... 31 5.1.1 Hardware results ...................................................................... 31 5.1.2 Software results........................................................................ 32 5.1.3 Angle mapping and simmulation ............................................. 33 5.2 Limitations ................................................................................................. 34 5.3 Recommendations ...................................................................................... 34 5.4 Targets and Achievements ......................................................................... 35 5.5 Summary .................................................................................................... 35 Chapter 6 ................................................................................... 36 Conclusion .................................................................................... 36 References ..................................................................................... 37 Appendices(if included) ................................................................. 38 Appendix - A.......................................................................................................... 38 Appendix - B .......................................................................................................... 39 4 ` LIST OF FIGURES Figure-2.1 Automated Guided Vehicle ......................................................................... 13 Figure-2.2 Block Diagram of AGV .............................................................................. 14 Figure-2.3 Block Diagram of Line Follower................................................................. 14 Figure-2.4 Line Follower .......................................................................................... 15 Figure-3.1 Base of Robotic Arm ................................................................................. 17 Figure-3.2 Arduino connected with Motor ................................................................... 18 Figure-3.3 Gripper Stand .......................................................................................... 19 Figure-3.4 Controller with Sensor............................................................................... 20 Figure-3.5 Arduino with Gyroscope ............................................................................ 21 Figure-3.6 Mathematical Simulation of Sensors ............................................................ 21 Figure-3.7 Base Assembly ......................................................................................... 22 Figure-4.1 Block Diagram......................................................................................... 23 Figure-4.2 Arduino Uno ............................................................................................ 24 Figure-4.3 Arduino interface with Servo ...................................................................... 25 Figure-4.4 Accelerometer .......................................................................................... 26 Figure-4.5 Controller with Transmitter........................................................................ 27 Figure-4.6 Controller with Receiver ............................................................................ 28 Figure-4.7 Software Simulation.................................................................................. 29 Figure-4.8 Software output of Sensor .......................................................................... 30 Figure-5.1 Sensor modeling ....................................................................................... 32 Figure-5.2 Performance Graph .................................................................................. 34 5 ` LIST OF TABLES Table-1.1 Responsibilities for given task in part 1............................................................ 9 Table-1.2 Responsibilities for given task in part 2.......................................................... 10 Table-5.1 Mapping of Sensors .................................................................................... 33 Table-5.2 Targets & Achievements ............................................................................. 33 6 ` LIST OF ACRONYMS PC LED AC DC KHZ VCC GND MIMO Personal Computer Light Emitting Diode Alternate Current Direct Current Kilo Hertz Voltage Source Ground Mutiple Inputs, Multiple Outputs PCB Printed Circuit Board LCD Liquid Crystal Display W.R.T With Respect To MHz RF USB AGV Mega Hertz Radio Frequency Universal Serial Bus Automated Guide Vehicle 7 ` Chapter 1 INTRODUCTION 1.1 Objective Our objective is to make the simple device as well as cheap so that it could be mass-produced and can be used for a number of purposes. A Gesture Controlled robot is a kind of robot that can be controlled by our hand gestures not by old buttons. We have use the Arduino as the brain of the project. We just need to wear a small transmitting device in our hands that includes an accelerometer and a gyroscope. This will transmit an appropriate command to the robot so that it can do whatever we want. We are transmitting the signal to mechanical body by using an RF module for wireless communication. . 1.2 Overview We have designed a robotic arm with 2 degrees of freedom that is wirelessly coordinated to a human arm and can follow the movements of a human arm. It is a robot that can be controlled by hand gestures and not the old fashioned way by using the buttons. The user just needs to wear a small transmitting device on his hand that includes a sensor which is an accelerometer and gyroscope in our case. Movement of hand in specific direction will transmit a command to robot that will then move in that specific direction. The transmitting device includes an RF module. 1.3 Statement of Problem This project aims to implement this robotic arm by interfacing it with motion sensors which makes the user interface comfortable. Servo motors are great for robotics projects. They are small in size but pack a big punch and are very energy efficient. The microcontroller controls the robotic movement by rotating individual Servo Motors connected to each joint. Motors controlled via Arduino allow the arm to move more precisely and fast enough. Motion sensors are used to move it to the desired direction in right amount. 8 ` 1.4 Specifications of proposed solution In our Project we used Servo Motors to control the speed of a Robotic Arm. Our robot is made up of metal segments which are joined by three joints and each joint has a fixed servo motor inside it. They are small in size but pack a big punch and are very energy efficient. Our main target was to achieve the required angle and momentum force to move the arm according to our requirement. It has the ability to generate enough torque to quickly move according to the user. 1.5 Purpose of the project The main purpose of the project is to control the Speed and angle of the motors by using Arduino AtMega. This gives precise angular control of the robotic arm which is not possible with a regular DC motor. As it is mentioned above that its practical applications are very vast. Its main applications are in Robotics. The best practical applications are the Robotic Arm and the Quad Copter. To control the speed and the angle of the turn we use Servo Motors. Servo Motors are recommended over the stepper motors because in stepper we have to find the feedback first. This is a complex calculation so servo is preferred over the stepper motors. This can also be helpful in medical sciences and military purposes. 1.6 Applications of the project There are some applications of the project which is defined in order to the components used in the assembly of the whole project. Servo motor mechanism is used in a large number of applications which are critical in position control. The practical applications of this specific project are very vast. Its main applications are in Robotics. The best practical applications are the Robotic Arm and the Quad Copter. To control the speed and the angle of the turn we use Servo Motors. Accelerometer is use to determine the acceleration of all the 3-axis. Gyroscope is used to measure the orientation which is totally based on the angular momentum. This is a very precise device. FR module is used on both ends both communication. This similar module can be used for multiple applications like remote control, digital audio video transmission etc. Other practical applications are in Cruise system, mobile cell and navigation etc. Gesture controlling is very helpful for handicapped and physically disabled people to achieve certain tasks such as driving a wheel chair. 9 ` 1.7 Project Plan We divided our project within the group in different small task so that each group member can work on it and learn everything and can teach to other group members what he learnt. Part-1 Table-1.1 Responsibilities for given task in part 1 10 ` Part-2 Table-1.2 Responsibilities for given task in part 2 11 ` 1.8 Report Organization In 1st phase we have discussed briefly about the conceptual buildup of our project. In this chapter we have discussed about the hardware and the software part of the project very briefly. We have talked about the equipment we have used and the coding behind its running mechanism. As we have discussed that there is not really much hardware design necessary for this project. We are just wiring up connections from the motors to the Arduino. The Arduino library makes it much easier to understand how to control a Servo motor compared to other microcontroller platforms that do not have a dedicated Servo Control library which makes the task easier. We have also discussed about the problem face during project and the outcomes of the projects. Project is break at two parts one is hardware and other is software. We have talked about the equipment we have used and the coding behind its running mechanism. This project doesn’t contain complex hardware. Complexities are in software portion. From software we cover sensitivity of mpu6050 and transmitting data and receiving and give as input to motors. 12 ` Chapter 2 LITERATURE REVIEW Our gestured controlled robot works on the principle that follows the mechanism of accelerometer and gyroscopes that receives a signal and then transmit it to the other end where mechanical body is attached. The most common of all these manufacturing robots is the robot arm. A typical robot arm is made up of seven segments joined by six joints. Usually a servo motor is used in order to track the movement of the robot arm. The reason for this is quite obvious since servo motors are designed to move in exact increments unlike DC motors. 2.1 Related Technologies The related technology and component that we can use in our project as well are mentioned below which follows almost the same mechanism and techniques. 2.1.1 Related Technology 1 (Stepper Motors) A Stepper motor is a part of a class of motors known as brushless motors these motors have a shaft but it does not physically touch anything in order to rotate. Relatively stepper motors work by utilizing electromagnets that are concentrically located around the shaft. The central shaft rotates as the coils surrounding the electromagnets are brought to various voltage states. These voltage states create a magnetic polarity between the shaft and the electromagnet which cause the teeth of the shaft to line up with the teeth of the electromagnet. The motor can then be induced to spin by having the electromagnets appropriately change their polarity in a sequential fashion.[7][8][12] 2.1.2 Related Technology 2 (DC Motors) This DC motor works on the principal when a current carrying conductor is placed in a magnetic field it experiences a torque and has a tendency to move. This is known as motoring action. If the direction of current in the wire is reversed the direction of rotation also reverses. When magnetic field and electric field interacts they produce a mechanical force and this is what based on the working principle of dc motor established.[7][8] 13 ` 2.2 Related Projects There is a lot of research going on similar to our project. One of them is implicated in past named as Automated Guided Vehicle. 2.2.1 Automated Guided Vehicle It is defined as a robot that follows the wires or any kind of marks of defined pattern on the floor. Laser and IR can also be used for the same project. They are very cheap in cost. In its structure an IR is fit in transmitter end which sense the pattern which has been programmed in it which emits infrared lights in forward direction. This robot contained encoders according to the block of robots used (2 encoders for each block). Sonar sensors were used for obstacle or object detection. This helps the robot to sense any obstacle and prevent itself towards the right path. [4][5] Figure-2.1 Automated Guided Vehicle 14 ` Figure-2.2 Block Diagram of AGV They are very cheap in cost. In its structure an IR is fit in transmitter end which sense the pattern which has been programmed in it which emits infrared lights in forward direction. This helps the robot to sense any obstacle and prevent itself towards the right path. 2.2.2 Line Follower Robot Using Arduino This line follower robot is basically designed to follow a black line on a white surface. Any way the same project can be used to follow the opposite configuration with appropriate changes in the software. The entire hardware of this simple line follower robot using arduino can be divided into three parts which are sensors, arduino board and the motor driver circuit. Let’s have a look at the sensor first. . Figure-2.3 Block Diagram of Line Follower 15 ` The sensor consists of two LED/LDR pairs with appropriate current limiting resistors. The resistance of an LDR is inversely proportional to the intensity of the light falling on it. The arduino board has to be programmed to keep the robot in correct path. This is done by reading the left and right sensor outputs and switching the left and right motors appropriately. Figure-2.4 Line Follower 2.3 Related Studies Automated Guided Vehicle also follows the same criteria which we have been following in our project. It is also categorized in same fashion. First part is mechanical selection and designing. Then it leads to the controller part which is core of programming. Arduino Atmega is used as a microcontroller in this project. It acts as the brain of the whole project. Every task is defined and mentioned in this part. Then comes the interfacing part of brain with the body. We synchronize he controller with mechanical body and the sensors to get the desired output. [3] The mechanical part includes the structure/body of the project. It has a rectangular body with 4 wheels attach to it. DC Motors are used in this project whereas in our project we use the 16 ` Servo Motors. Then an important feature of mechanical part is the sensors. In this project IR sensors are used to sense the pattern which follows the path for the robot.[9][10] 2.4 Their Limitations and Bottlenecks There comes a few limitations when it comes to navigation because sensors needed a path to follow. There are multiple ways of doing this task. One of them is wired system in which a long slot of wire is inserted deep in ground which is followed by AVG for navigation. The wire is used to transmit the signal which is RF. A sensor is installed to AVG at the bottom to sense the receiving sensor. They sense it and then follow the path by following the wire. Gyroscopic and laser target navigations are used for the same guidance techniques as well. Other procedure is by using the Guide Tape. These taps can be defined in two types as Magnetic and Colored Types. There are some guided sensors for that to follow the path of the tape. Main disadvantage of this tape method is that it can easily be removed from the surface that will directly make a negative impact on the navigation and the path will be distracted. 2.5 Summary In this chapter we have discussed the project and research work doing in the same field in which we have discussed our project. This chapter gives reader a complete view about the literature, related technologies, related project and studies. This chapter clears the sense of reader why we are going to do this project by telling him about the problems that was faced in daily life. It also gives over view of different project related to this project and their limitation. The AVG was mentioned as it was has the same pattern which is been followed in our project. We have explained the working mechanism behind it and showed the schematic diagram as well. The limitations of the same project has also been mentioned which states that easy operating formation by user can be obtained and gives a fair solution to accomplish the assembly work done in the industry by minimizing the human task and becomes for efficient for production in industrial level. 17 ` Chapter 3 PROJECT DESIGN AND IMPLEMENTATION We design the project in a manner to control the peed and angle of the Servo motor using an Arduino Controller. copter etc. This can be used in multiple applications like a robotic arm or a Quad The motors play a major role in both these practical applications. The performance and efficiency of both the examples highly depends on the speed and angle control of the device. A Servo motor uses pulse width modulation from a microcontroller to know at what speed and at what position does it is supposed to move. They can move both clockwise or counterclockwise because of an H bridge which is imprinted into them. Most of the Servo motors unlike conventional electric motors do not move in continuous rotations. Our main target was to achieve the required angle and momentum force to move the arm according to our requirement. It has the ability to generate enough torque to quickly move according to the user.[1] 3.1 Design of the Project Hardware/ Software In the hardware part we have use the following gadgets:  Mechanical Arm  Servo Motors  Arduino Kit  RF Module  Connecting Wires  Breadboard  Potentiometer  Gripper At the start we have connected 3 pins with the controller. 2 pins are for VCC and the 3rd is for ground. For controlling a big servo motor we can use external power source but in our case servo motors are not that big so we are connecting it directly with the Arduino. 18 ` We have connected the ground from the external source to the ground of the Arduino. The third pin is the signal pin which accepts the signal from the controller. It actually tells to motor that at what angle to turn to. The length of the pulse corresponds to the angle the motor turns to. When we attach the servo motors we attach it to the board via 3 male header as it does not stay in servo connector holes. There isn't really much hardware design necessary for this project. We are just wiring up 3 connections from the motors to the Arduino. RF module is used for the wireless communication. [1] 3.2 Implementation procedure To connect the servo motor with the Arduino we took 3 wires and plugged them into the motors. After that we connect it to the controller. One pin was for power which gives 5v. Other was for digital pin 0 and the ground. For controlling a big servo motor we can use external power source but in our case servo motors are not that big so we are connecting it directly with the Arduino. We have connected the ground from the external source to the ground of the Arduino. The third pin is the signal pin which accepts the signal from the controller. It actually tells to motor that at what angle to turn to. Then on the receiving end we connected Arduino Uno which receives the data from both the sensors the accelerometer and the gyroscope. Then its sends the data wirelessly via RF module on the other side. The other side contains a mechanical arm with a receiver attached on it. It receives the transmitted data that was sent from the sensors and proceed it forward to make the motors operational.[1] Figure-3.1 Base of Robotic Arm 19 ` 3.3 Details about hardware A Servo motor uses pulse width modulation from a microcontroller to know at what speed and at what position does it is supposed to move. They can move both clockwise or counterclockwise because of an H bridge that is imprinted into them. An accelerometer is a device which actually measures the acceleration. It can be also said as the G Force which is differentiated for both 2-axis and 3-axis as well . Gyroscope is used for the measurement of orientation which totally based on the angular momentum. This is a very precise device.[3] Figure-3.2 Arduino connected with Motor For wireless communication RF module is used. At transmitting it it gathers the information from the sensors and then transmits it on the other side. On the receiving end the data is received and then given to the controller which operates the motors accordingly. Below is the diagram of grip stand used in mechanical body of arm. [9][10] Figure-3.3 Gripper Stand 20 ` 3.4 Details about software/ algorithms In our project we have done software in two types of partitions. At the first stage we initialize the servo and all the other variables. This is important because we wanted to use more than 1 servo. We also need to declare that so we used the Arduino Servo library for all out control to make things as easy as possible. 3.5 Details of Simulations / Mathematical Modeling The circuit works on the principle of the Servo motors. When the object reaches towards the robotic arm the accelerometer sense the movement and synchronize with the motors to help arm move accordingly. Figure-3.4 Controller with Sensor Accelerometer measures the acceleration to give the information if we tilt the object the data will be given at the receiving end. Whereas the gyroscope measure the rotational movement in degrees per second. They directly receive the information if we tilt but only limitation is that it gives only movement about an axis. [2][4] Figure-3.5 Arduino with Gyroscope 21 ` 3.6 Details of final working prototype Figure-3.6 Mathematical Simulation of Sensors As the robot should be a stable one, so we have used aluminum and acrylic sheets, geared servo motors for the body of our robot. We started the design of our robot by calculating the dimensions required to make it. Then, these dimensions are modeled in AutoCAD to make very precise Structure. The AutoCAD design is given below. Figure-3.7 Base Assembly 22 ` 3.7 Summary In this chapter we have discussed about the hardware and the software part of the project very briefly. We have talked about the equipment we have used and the coding behind its running mechanism. As we have discussed that there is not really much hardware design necessary for this project. We are just wiring up 3 connections from the motors to the Arduino. The Arduino library makes it much easier to understand how to control a Servo motor compared to other microcontroller platforms that do not have a dedicated Servo Control library which makes the task easier. 23 ` Chapter 4 TOOLS AND TECHNIQUES 4.1 Hardware used with technical specifications The main title clarifies the idea about the tools and equipment that has been used in this project. We are going to discuss all of them in detail. Figure-4.1 Block Diagram 4.1.1 Arduino Controller Arduino is an electronic prototype which is based on flexible and user friendly hardware and software as well. It can be very creative and comes handy in many applications. Arduino can be controlled by sending an input by the user from different sensors. This contains a microcontroller which is programmed using its own language and environment. They can also communicate with software running on computer and serial communications like Flash Drive and USB etc. This controller can be built by hand or can be purchased from the market. 24 ` We are using Arduino Uno in our project on the transmitting end. It is the latest version. It interfaces with the computer via USB cable and contain everything else we need for the program and use the board. It has 13 digital and 6 analog pins. These pins allow them to contact with the hardware. We simply plug our sensors with the desired pins as mentioned in the data sheet to get the required output. It runs on the frequency of 16 MHz. For the storing of data it has a built in memory of 32 KB. An on board LED is connected to pin 13 for fast debugging of the code. A reset button is also there to rest the program.[5] Figure-4.2 Arduino Uno 4.1.2 Servo Motors A Servo motor uses pulse width modulation from a microcontroller to know at what speed and at what position does it is supposed to move. They can move both clockwise or counterclockwise because of an H bridge which is imprinted into them. Most of the Servo motors unlike conventional electric motors do not move in continuous rotations. Our main target was to achieve the required angle and momentum force to move the arm according to our requirement. It has the ability to generate enough torque to quickly move according to the user.[5] 25 ` Figure-4.3 Arduino interface with Servo 4.1.3 Accelerometer An accelerometer is a kind of sensor which measure the acceleration in al 3 axis. They sense the initial measurement of the velocity and position. Also gives the orientation in all dimensions as referred to the gravitational force. They also inform the user when the object is tilt at a certain angel. The output values of this sensor s a scalar one which corresponds to magnitude of acceleration vector. The acceleration is opposed by the gravitational force which is said to be the G Force. Depending on the sensitivity its cost fluctuates from lower to higher. If the degree range that an application will be measuring is only 0° to 45° and the board will be mounted perpendicular to gravity then an X-Axis device would be the best solution. If the degree range was 0° to 45° and the board will be mounted perpendicular to gravity then a Z-Axis device would be the best solution. This is understood more when thinking about the output response signal of the device and the nonlinearity. [6][7] 26 ` Figure-4.4 Accelerometer 4.1.4 RF MODULE (Rx/Tx) Radio frequency is a rate of oscillation in the range of about 3 KHz to 300 GHz which corresponds to the frequency of radio waves and the alternating currents which carry radio signals. Why we have used this type of transmitter or receiver as there are many other transmitters? All the other transmitter and receivers are not available in the market and the purpose of phase shifting cannot be achieved by using the ordinary transmitter for the calculated beam angles. As radio frequency is a rate of oscillation the term radio frequency is also used as a synonym for radio to describe the use of wireless communication as opposed to communication via electric wires. . The power amplifiers are used after phase shifter for increasing the range of the signal to be transmitted. The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters. [8] 27 ` 4.1.4.1 Transmitter: Working voltage: 3V - 12V for max. power use 12V Working current: max Less than 40mA max , and min 9mA Resonance mode: (SAW) Modulation mode: ASK Working frequency: Eve 315MHz Or 433MHz Transmission power: 25mW (315MHz at 12V) Frequency error: +150kHz (max) Velocity : less than 10Kbps [7] Figure-4.5 Controller with Transmitter 4.1.4.2 Receiver: Working voltage: 5.0VDC +0.5V Working current:≤5.5mA max Working method: OOK/ASK Working frequency: 315MHz-433.92MHz Bandwidth: 2MHz Sensitivity: excel –100dBm (50Ω) Transmitting velocity: <9.6Kbps (at 315MHz and -95dBm) [7] 28 ` Figure-4.6 Controller with Receiver 4.2 Software(s), simulation tool(s) used The Arduino Uno can be program within the Arduino built software. We do not need a boot loader in it. Directly program the microcontroller through the in circuit serial programing. Headers play an important role for optimization of the code. Figure-4.7 Software Simulation 29 ` Figure-4.8 Software output of Sensor The above diagram is showing the output of the sensor. The small window indicates the value of the accelerometer of every axis separately. Whereas the big box shows the code written for the controller and vice versa.[11] 4.3 Summary In this chapter we have discussed about the hardware and the software part of the project very briefly. We have talked about the equipment we have used and the coding behind its running mechanism. As we have discussed that there is not really much hardware design necessary for this project. The Arduino library makes it much easier to understand how to control a Servo motor compared to other microcontroller platforms that do not have a dedicated Servo Control library. After adding the header file the code runs smoothly as it was required to do so. The software tools which were used are discussed in detail as an essential part of the project because they were necessary in the completion of the project. The working methodology of hardware and software is discussed with comparison of their results. 30 ` Chapter 5 PROJECT RESULTS AND EVALUATION In this chapter we will discuss about the problems and result of the project. During the project we face many problems in configuration of MPU6050 to control its sensitivity. We change the code in header file of MPU6050. It took a handsome amount of time on understanding the header file. 5.1 Presentation of the findings The overall result of project is to move motors by wirelessly transmitted gyroscope data. We move the gyroscope and its selective data will map with the angles from 0-180. After mapping the result will transmitted at radio frequency through RF(NRF2401). Data receive on the other hand is given to the Arduino. Data is sending in serial protocol and is given for two motors. We have split project in two parts. 5.1.1 Hardware results In hardware portion we have make circuit in which gyroscope give output to controller and then transmitted through RF at 2.4GHz. Hardware part is of two types one is transmitter side and other is receiving side. In receiving side mpu6050 a controller and a wireless transmitted module. In receiving side a receiver is attached which receive the data and give data to controller which give data as an input of servo motors. When the arm is moved in the positive X direction (X+) initially the value of acceleration x a increases because the arm begins to move and then, when the arm begins to slow the positive value of x a is converted to a negative value. This point marks the point of maximum speed. The acceleration a y remains near to zero and z a remains near to one because the accelerometer is held horizontally (acceleration due to gravity). To move the robot in the X direction, the user should move the accelerometer along the X axis, keeping it in the horizontal and vice versa. 31 ` 5.1.2 Software results In software, the main problems occur in configuration of accelerometer. By changing the sensitivity of mpu6050 we have change the register values of mpu6050 from its source code. Transmitted data will be transmitting in SPI protocol. SPI send data in series. We transmit data by making master slave device. Transmitter side RF module is master device. Data receive at the other side in controller will give data0 to motor1 and data1 to motor2. Figure-5.1Sensor Modeling 5.1.3 Angle Mapping and Simulation Below is the given output by the sensors when we did multitasking and sensors works in parallel. Sr.# 1 2 3 4 Angle in degree 0 1 2 3 Value of G’s Sr.# -160 − -158 -157 − -155 -154 − -152 -151 − -149 - Angle in degree- Value of G’s -40 − -38 -37 − -35 -33 − -31 -30 − -28 Sr.# - Angle in degree Value of G’s - 81 − 83 84 – 86 87 – 89 90 − 92 32 `- - -148 − -146 -145 − -143 -142 − -140 -139 − -137 -136 − -134 -133 − -131 -130 − -128 -127 − -125 -124 − -122 -121 − -119 -118 − -116 -115 − -113 -112 − -110 -109 − -107 -106 − -104 -103 − -101 -100 − -98 -97 − -95 -94 − -92 -91 − -89 -88 − -86 -85 − -83 -82 − -80 -79 − -77 -76 − -74 -73 − -71 -70 − -68 -67 − -65 -64 − -62 -61 − -59 -58 − -56 -55 − -53 -52 − -50 -49 − -47 -46 − -44 -43 − -41 - - -27 − -25 -24 − -22 -21 − -19 -18 − -16 -15 − -13 -12 − -10 -9 − -7 -6 − -4 -3 − -1 0−2 3–5 6–8 9 – 11 12 – 14 15 – 17 18 – 20 21 – 23 24 – 26 27 – 29 30 – 32 33 – 35 36 – 38 39 – 41 42 – 44 45 – 47 48 – 50 51 – 53 54 – 56 57 – 59 60 – 62 63 – 65 66 – 68 69 – 71 72 – 74 75 – 77 78 – 80 - - 93 – 95 96 – 98 99 − 101 102 – 104 105 – 107 108 – 110 111 – 113 114 – 116 117 – 119 120 – 122 123 – 125 126 – 128 129 – 131 132 – 134 135 – 137 138 – 140 141 – 143 144 – 146 147 – 149 150 – 152 153 – 155 156 – 158 159 – 161 162 – 164 165 – 166 167 – 168 169 – 170 171 – 172 173 – 174 175 – 176 177 – 178 179 – 180 181 – 182 183 – 184 185 – 186 187 – 188 Table-5.1 Mapping of Sensors 33 ` 5.2 Limitations In this project, the robotic arm will move only in left right and in up down position but cannot grab things. We still have the limitation of speed in our robot. As we are achieving maximum torque, so we are not receiving high speed. The graph of speed versus torque is shown in following figure. Our operating point is also shown in the following graph. Our Operating point Figure-5.2 Performance Graph 5.3 Recommendations Our recommendations in this project are to upgrade this project in moving the arm in backward direction by moving accelerometer that is attached at your hand by adding more joints. We shall also recommend that before doing this project one should have studied theoretical research based on robotic arm especially studied about its hardware design to obtain more compatible, reliable and user friendly robotic arm. 34 ` 5.4 Targets and Achievements Project Tasks Initial Target Integrated sensors with board Achieve with a fast response Integrated sensors with mechanical body Achieve with almost zero probability of error and real time processing Integrated motors with board Achieve with less delays RF Module Integration Achieve so that can be access easily Targets of the Project Achieved/ Not -Achieved Mapping Achieved Integrated motors with sensors Achieved with some delays/jerks Integrated sensors through wireless Achieved communications Table-5.2 Targets & Achievements 5.5 Summary In this chapter, we discuss about the problem face during project and the outcomes of the project. Project is break at two parts one is hardware and other is software. We have talked about the equipment we have used and the coding behind its running mechanism. This project doesn’t contain complex hardware. Complexities are in software portion. From software we cover sensitivity of mpu6050 and transmitting data and receiving and give as input to motors. 35 ` Chapter 6 CONCLUSION To make a robot is not much a difficult thing to do but to make it work accurate is the real thing. Many engineers failed to make accurate robots. Implementation of feedback algorithms was a real difficult problem. To make them accurately is our real accomplishment. Moreover, we have learned about main parts of artificial intelligence. We have used robotic arm which is very much helpful in making arms, legs or any bending of any part of the body of robot. Arduino is used in which we can program our own logic. By the implementation of this logic we can build and implement any kind of logic to make our robot more sensible (very near to a humanoid). Different sensors were used to make the sensing of the robot better and the movement of the robot by 3-axis accelerometer and gyroscope was also very good experience. Indeed, we have learned a lot of things during this project. 36 ` REFERENCES [1] R. Carelli and E. O. Freire, “Navigation Outdoor and Wall-Following Stable Control for Sonar-Based Mobile Robots,” Robotics and Autonomous Systems, Vol. 45, No. 3-4, 2003, pp. 235-247. doi:10.1016/j.robot.2003.09. [2]R. Malhotra and A. Sarkar, “Development of a Fuzzy Logic Based Mobile Robot for Dynamic Obstacle Avoi- dance and Goal Acquisition in an Unstructured Envi- roment,” IEEE/ASME Proceeding of International Con- ference on Advanced Intelligent Mechatronics, Kobe, 20- 24 July 2003, pp. 235-247. [3]P. M. Peri, “Fuzzy Logic Controller for an Autonomous Mobile Robot,” Master Thesis, Cleveland State Univer- sity, Cleveland, 2005. [4]D. Ratner and P. McKerrow, “Navigation an Outdoor Robot along Continuous Landmarks with Ultrasonic Sen- sing,” Robotics and Autonomous Systems, Vol. 45, No. 1, 2003, pp. 7382. doi:10.1016/S- [5]R. Carelli and E. Freire, “Stable Corridor Navigation Controller for Sonar-Based Mobile Robots,” Technical Report, INAW, Universidad Nacional de San Juan, San Juan, 2001. [6] Chris Churavy, Maria Baker, Samarth Mehta, IshuPradhan, Nina Scheidegger, Steven Shanfelt, Rick Rarick, and Dan Simon, Cleveland State University, Department of Electrical and Computer Engineering, IEEE Potential (Unpublished), October 2007. [7] Mehmet Ergezer, Multivariable Control Methods for Wall Tracking Robot, Cleveland State University, Department ofElectrical and Computer Engineering, Project Paper, 2006. [8] M.I.Rieiro ,P.Lima, Kinematics Models of Mobile Robots, http://omni.isr.ist.utl.pt/~mir/cadeiras/robmovel/Kinematics.pdf, April 2002. [9] http://ohm.ieec.uned.es/portal/wp-content/uploads/2013/10/robot-arm.jpg [10]http://www.societyofrobots.com/sensors_sharpirrange.shtml [11]http://www.engineersgarage.com/electronic-components/at89c51-microcontrollerdatasheet] 37 ` [12]http://www.arduino.cc [13]. Professor Levesley, “Recording and Replicating Human Arm Motionfor use within physiotherapy” U.S. Patent-, Nov. 4, 1978. [14]. Biswas, K. K., &Basu, S. K. (2011). Gesture recognition using Microsoft Kinect.Automation, Robotics and Applications (ICARA), 2011 5th International Conference on. [15]. Henry, P., Krainin, M., Herbst, E., Ren, X., & Fox, D. (2012). RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments. The International Journal of Robotics Research, 31(5), 647–663. [16]. EbehardD. andVogesE., “Motion Control of Robot Using Kinect” Research Journal of Applied Sciences, Engineering and Technology 38 ` APPENDICES Appendix – A 39 ` Appendix – B Arduino Mega 2560 Pin Mapping Pin Number Pin Name Mapped Pin Name 1 PG5 ( OC0B ) Digital pin 4 (PWM) 2 PE0 ( RXD0/PCINT8 ) Digital pin 0 (RX0) 3 PE1 ( TXD0 ) Digital pin 1 (TX0) 4 PE2 ( XCK0/AIN0 ) 5 PE3 ( OC3A/AIN1 ) Digital pin 5 (PWM) 6 PE4 ( OC3B/INT4 ) Digital pin 2 (PWM) 7 PE5 ( OC3C/INT5 ) Digital pin 3 (PWM) 8 PE6 ( T3/INT6 ) 9 PE7 ( CLKO/ICP3/INT7 ) 10 VCC VCC 11 GND GND 12 PH0 ( RXD2 ) Digital pin 17 (RX2) 13 PH1 ( TXD2 ) Digital pin 16 (TX2) 14 PH2 ( XCK2 ) 15 PH3 ( OC4A ) Digital pin 6 (PWM) 16 PH4 ( OC4B ) Digital pin 7 (PWM) 17 PH5 ( OC4C ) Digital pin 8 (PWM) 18 PH6 ( OC2B ) Digital pin 9 (PWM) 19 PB0 ( SS/PCINT0 ) Digital pin 53 (SS) 20 PB1 ( SCK/PCINT1 ) Digital pin 52 (SCK) 21 PB2 ( MOSI/PCINT2 ) Digital pin 51 (MOSI) 22 PB3 ( MISO/PCINT3 ) Digital pin 50 (MISO) 23 PB4 ( OC2A/PCINT4 ) Digital pin 10 (PWM) 24 PB5 ( OC1A/PCINT5 ) Digital pin 11 (PWM) 25 PB6 ( OC1B/PCINT6 ) Digital pin 12 (PWM) 40 ` 26 PB7 ( OC0A/OC1C/PCINT7 ) Digital pin 13 (PWM) 27 PH7 ( T4 ) 28 PG3 ( TOSC2 ) 29 PG4 ( TOSC1 ) 30 RESET RESET 31 VCC VCC 32 GND GND 33 XTAL2 XTAL2 34 XTAL1 XTAL1 35 PL0 ( ICP4 ) Digital pin 49 36 PL1 ( ICP5 ) Digital pin 48 37 38 PL2 ( T5 ) PL3 ( OC5A ) Digital pin 47 Digital pin 46 (PWM) 39 PL4 ( OC5B ) Digital pin 45 (PWM) 40 PL5 ( OC5C ) Digital pin 44 (PWM) 41 PL6 Digital pin 43 42 PL7 Digital pin 42 43 PD0 ( SCL/INT0 ) Digital pin 21 (SCL) 44 45 PD1 ( SDA/INT1 ) PD2 ( RXDI/INT2 ) Digital pin 20 (SDA) Digital pin 19 (RX1) 46 PD3 ( TXD1/INT3 ) Digital pin 18 (TX1) 47 PD4 ( ICP1 ) 48 PD5 ( XCK1 ) 49 PD6 ( T1 ) 50 PD7 ( T0 ) Digital pin 38 51 52 PG0 ( WR ) PG1 ( RD ) Digital pin 41 Digital pin 40 53 PC0 ( A8 ) Digital pin 37 54 PC1 ( A9 ) Digital pin 36 55 PC2 ( A10 ) Digital pin 35 56 PC3 ( A11 ) Digital pin 34 57 PC4 ( A12 ) Digital pin 33 58 PC5 ( A13 ) Digital pin 32 59 60 PC6 ( A14 ) PC7 ( A15 ) Digital pin 31 Digital pin 30 61 VCC VCC 62 GND GND 41 ` 63 PJ0 ( RXD3/PCINT9 ) Digital pin 15 (RX3) 64 PJ1 ( TXD3/PCINT10 ) Digital pin 14 (TX3) 65 PJ2 ( XCK3/PCINT11 ) 66 67 PJ3 ( PCINT12 ) PJ4 ( PCINT13 ) 68 PJ5 ( PCINT14 ) 69 PJ6 ( PCINT 15 ) 70 PG2 ( ALE ) Digital pin 39 71 PA7 ( AD7 ) Digital pin 29 72 PA6 ( AD6 ) Digital pin 28 73 PA5 ( AD5 ) Digital pin 27 74 75 PA4 ( AD4 ) PA3 ( AD3 ) Digital pin 26 Digital pin 25 76 PA2 ( AD2 ) Digital pin 24 77 PA1 ( AD1 ) Digital pin 23 78 PA0 ( AD0 ) Digital pin 22 79 PJ7 80 VCC VCC 81 82 GND PK7 ( ADC15/PCINT23 ) GND Analog pin 15 83 PK6 ( ADC14/PCINT22 ) Analog pin 14 84 PK5 ( ADC13/PCINT21 ) Analog pin 13 85 PK4 ( ADC12/PCINT20 ) Analog pin 12 86 PK3 ( ADC11/PCINT19 ) Analog pin 11 87 PK2 ( ADC10/PCINT18 ) Analog pin 10 88 89 PK1 ( ADC9/PCINT17 ) PK0 ( ADC8/PCINT16 ) Analog pin 9 Analog pin 8 90 PF7 ( ADC7 ) Analog pin 7 91 PF6 ( ADC6 ) Analog pin 6 92 PF5 ( ADC5/TMS ) Analog pin 5 93 PF4 ( ADC4/TMK ) Analog pin 4 94 PF3 ( ADC3 ) Analog pin 3 95 PF2 ( ADC2 ) Analog pin 2 96 97 PF1 ( ADC1 ) PF0 ( ADC0 ) Analog pin 1 Analog pin 0 98 AREF Analog Reference 99 GND GND 100 AVCC VCC 42