robot arm control through human hand motion

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ROBOT ARM CONTROL THROUGH HUMAN HAND MOTION

V.VIGNESH

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CONTENT- Abstract- Objective- Introduction- Block Diagram- Human Hand region- Robot ARM region- Components Description- PIN Diagram (16F877A)- Use of Software- Working- Advantage- Conclusion - Feature Scope

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ABSTRACTRobots of the current generation have been used in fields isolated

from the human society. In this project, we define robots that are interfaced with our national

army. Each year we lost our more powerful soldiers in war. To replace this we are developing robots. In this project human hand will be interfacing with robotic arm.

When the human moving the hand that change of angle motion is capture by using the flux sensor. That is interfacing with PIC 16f877A micro controller. By using the Serial communication the signals are transferred to ARM motors with a help of RF Serial Link, and then changed the robot arm position.

It is the first level of the humanoid robot.

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OBJECTIVETo reduce the man power in war region.Save human’s life.Where ever human being are not work at any place like SPACE, UNDER

GROUND, and etc., their this robot are easily operated.

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INTRODUCTIONNow a days robots are increasingly being integrated into working tasks to

replace humans especially to perform the repetitive task. In general, robotics can be divided into two areas, industrial and service robotics

Robots are currently used in many fields of applications including office, military tasks, hospital operations, dangerous environment and agriculture.

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.

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BLOCK DIAGRAM - HUMAN HAND REGION

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- ROBOT ARM REGION

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HUMAN HAND REGIONMainly human hand have a five motion. Its four motions are read by using Flex sensor.Each Flex sensor’s Data is scanned by using PIC 16F877A.Here analog signals are convert to the digital signals.And that digital signals are transmit to ROBOT ARM REGION with a help

of RF Serial Link.

Components Used:- Flex Sensors.- PIC Microcontroller.- RF Serial Link.

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ROBOT ARM REGIONBy using the RF Serial Link, data will be capture from Human Hand

Region.That data will be processed based on Embedded ‘C’ Program, it is dumped

in microcontroller PIC 16F877A.So that the Robot arm changes is equal to the human hand motion.

Components Used:- RF Serial Link- PIC Microcontroller- Motor Driver- Robot ARM

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COMPONENTS DESCRIPTION Flex Sensor:

Flex sensor is nothing but one of the variable resistance. Its inside to place the carbon resistive elements within a thin flexible substrate.

carbon is high then, resistance level is low. carbon is low then, resistance level is high.

Front bend = resistance value decrease.Back bend = resistance value increase.

The range of resistance value is 1k to 1M ohm.

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Radio Frequency Serial Link: It should be connected to any TTL/CMOS logic serial RXD and TXD lines

and can support baud-rate of 9600bps, 19200bps, 38400bps and 57600bps. It also supports 4 unique RF channel selections to reduce congestions on

the same channel during peer-to-peer communication. It contain a four pins. Its Ground, VCC, Transmit pin, Receiver pin. Its working district is 100 meter in outdoor.

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Motor Driver: It is a Dual DC motor Drive. Its operating voltage is 5V to 18V. It contain the 500mA maximum current and 20A peak current. Maximum Current rating is contain the 1sec only. Motor’s direction is controlled by using the Change of input. (i.e., “0” and

“1”)H- Bridge Circuit is used in circuit for control the output current. It is also have a in build PWM control for control the motor’s speed from

20 Hz to 400 Hz.DIR Pin is used to Control the Direction of the motor.BRK Pin is used to control the Stop operation of the motor.

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Dc geared motor:Operating Voltage = 5V (DC)No load Current = 100mAFull load Current = 1ATorque = 5Kg/cmSpeed = 50RPM

PIC (16f877A):Operating Voltage = 5V (DC)I/O Port = 5 Ports (A,B,C,D,E)Each Port o/p volt = 5V Port o/p cur = 16mA

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PIN DIAGRAM (16F877A)

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SOFTWARE USED

- MPLAB IDE V8.80 (Integrated development environment)It is used to develop the Embedded “C” Program for PIC

Microcontroller.

- PIC KIT TOOLIt is used to Download the program from User system into

Microcontroller Board.

- Flash magicIt is used to View the serial out put.

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WORKINGFlex sensor’s value is read by using the

microcontroller.

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That alter value is sending serially to robot arm.

It is view by using the Flash magic software.

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Robot’s arm motors is rotate with respective data.

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ADVANTAGE

It is user free system. It is wireless system.At any places this robot will be used.So that where ever human is at risk to do work , so that robots are very

useful for us.

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CONCLUSIONThe objectives of this project has been achieved which was

developing the hardware and software for an flex sensor controlled robotic arm.

From observation that has been made, it clearly shows that its movement is precise, accurate, and is easy to control and user friendly to use .

The robotic arm has been developed successfully as the movement of the robot can be controlled precisely.

This robotic arm control method is expected to overcome the problem such as placing or picking object that away from the user, pick and place hazardous object in a very fast and easy manner.

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FUTURE SCOPE

The project is built on a wireless model using RF. It could further be developed to work on wireless communication using

ZIGBEE , thus allowing the user to move in an easier unrestricted manner. Currently the flex sensor signal is being processed via a PIC. This could be eliminated by using a fast microprocessor such as ARMv7,

etc.Finally its over all robot will be construct with a help of Reference.

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THANK YOU