DEPARTMENT OF ELECTRICAL ENGINEERING NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES, PESHWAR CAMPUS (JUNE 2013)
W I R E L E S S
G E S T U R E
C O N T R O L L E D
R O B O T
2 0 0 9 - 2 0 1 3
WIRELESS GESTURE CONTROLLED ROBOT FINAL YEAR PROJECT REPORT
MUHAMMAD AHKAM KHAN MUHAMMAD WAQAR
SESSION 2009 2013
SUPERVISED BY MR. ASIF IQBAL
DEPARTMENT OF ELECTRICAL ENGINEERING NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES, PESHWAR CAMPUS
WIRELESS GESTURE CONTROLLED ROBOT
FINAL YEAR PROJECT REPORT
MUHAMMAD AHKAM KHAN EE-09-6394 MUHAMMAD WAQAR EE-09-6391
SESSION 2009 2013
THE PROJECT REPORT IS PREPARED FOR DEPARTMENT OF ELECTRICAL ENGINEERING NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES IN PARTIAL FULFILLMENT FOR BACHELOR OF ELECTRICAL ENGINEERING BS (EE)
DEPARTMENT OF ELECTRICAL ENGINEERING NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES, PESHAWAR CAMPUS (JUNE 2013)
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Dedicated to our parents and teachers for their guidance and prayers and to our friends who helped us out in every possible manner.
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FINAL APPROVAL This is to certify that we have read the project title submitted by Muhammad Ahkam Khan and Muhammad Waqar as mentioned on the title page. It is our judgment that this project is of standard to warrant its acceptance by National University of Computer and Emerging Sciences- FAST Peshawar, for the degree of BS (EE). Examination Committee: 1. Project Supervisor:
_____________________ Mr. Asif Iqbal Lecturer Department of Electrical Engineering National University of Computer and Emerging Sciences-FAST
2. FYP Coordinator:
_____________________ Mr. Ahmed Saeed Qazi Assistant Professor Department of Electrical Engineering National University of Computer and Emerging Sciences-FAST
3. Head of Department of Electrical Engineering:
_____________________ Mr. Ahmed Saeed Qazi National University of Computer and Emerging Sciences-FAST vi
STUDENTS DECLARATION
I declare that this project entitled WIRELESS GESTURE CONTROLLED ROBOT, submitted as requirement for the award of BS (EE) degree, does not contain any material previously submitted for a degree in any university; and that to the best of my knowledge it does not contain any material previously published or written by another person except where due reference is made in the text.
Muhammad Ahkam Khan (p09-6394) SIGNATURE__________________
Muhammad Waqar (p09-6391) SIGNATURE__________________
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ACKNOWLEDGEMENT
Thanking ALLAH for His Blessings, Mercy & Favors. We would like to acknowledge our Parents and all Teachers, who supported us both morally and technically, especially our supervisor Mr. Asif Iqbal who helped us at every step in the making of our project, helped us in the clarification of our queries related to our project and technical problems. Also our special thanks to all class fellows and seniors, who helped us in clarification of any issue as well as implementation and in documentation.
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ABSTRACT
Gesture Controlled Robot is a robot which can be controlled by simple gestures. The user just needs to wear a gesture device which includes a sensor. The sensor will record the movement of hand in a specific direction which will result in the movement of the robot in the respective direction. The robot and the Gesture device are connected wirelessly via radio waves. The wireless communication enables the user to interact with the robot in a more friendly way.
CHAPTER 5: CONCLUSION, LIMITATIONS AND FUTURE WORK ..... 27 5.1 Conclusion ...................................................................................................... 27 5.2 Limitations and Future Work .......................................................................... 33 CHAPTER 6: FEASIBILITY OF THE PROJECT .......................................... 34 6.1 Software .......................................................................................................... 34 6.2 Hardware ......................................................................................................... 34 6.1 Economic ........................................................................................................ 34
Microcontroller Code ............................................................................................ 37 List of Figures & Tables ....................................................................................... 39 References ............................................................................................................. 41 WIRELESS GESTURE CONTROLLED ROBOT
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CHAPTER 1: INTRODUCTION Recently, strong efforts have been carried out to develop intelligent and natural interfaces between users and computer based systems based on human gestures. Gestures provide an intuitive interface to both human and computer. Thus, such gesture-based interfaces can not only substitute the common interface devices, but can also be exploited to extend their functionality. 1.1 ROBOT A robot is usually an electro-mechanical machine that can perform tasks automatically. Some robots require some degree of guidance, which may be done using a remote control or with a computer interface. Robots can be autonomous, semi-autonomous or remotely controlled. Robots have evolved so much and are capable of mimicking humans that they seem to have a mind of their own. 1.2 HUMAN MACHINE INTERACTION An important aspect of a successful robotic system is the Human-Machine interaction. In the early years the only way to communicate with a robot was to program which required extensive hard work. With the development in science and robotics, gesture based recognition came into life. Gestures originate from any bodily motion or state but commonly originate from the face or hand. Gesture recognition can be considered as a way for computer to understand human body language. This has minimized the need for text interfaces and GUIs (Graphical User Interface).
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1.3 GESTURE A gesture is an action that has to be seen by someone else and has to convey some piece of information. Gesture is usually considered as a movement of part of the body, esp. a hand or the head, to express an idea or meaning. 1.4 MOTIVATION FOR PROJECT Our motivation to work on this project came from a disabled person who was driving his wheel chair by hand with quite a lot of difficulty. So we wanted to make a device which would help such people drive their chairs without even having the need to touch the wheels of their chairs. 1.5 OBJECTIVE OF PROJECT Our objective is to make this device simple as well as cheap so that it could be mass produced and can be used for a number of purposes
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CHAPTER 2: GESTURE CONTROLLED ROBOT 2.1 GESTURE CONTROLLED ROBOT Gesture recognition technologies are much younger in the world of today. At this time there is much active research in the field and little in the way of publicly available implementations. Several approaches have been developed for sensing gestures and controlling robots. Glove based technique is a well-known means of recognizing hand gestures. It utilizes a sensor attached to a glove that directly measures hand movements. A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not the old fashioned way by using buttons. The user just needs to wear a small transmitting device on his hand which includes a sensor which is an accelerometer in our case. Movement of the hand in a specific direction will transmit a command to the robot which will then move in a specific direction. The transmitting device includes a Comparator IC for assigning proper levels to the input voltages from the accelerometer and an Encoder IC which is used to encode the four bit data and then it will be transmitted by an RF Transmitter module. At the receiving end an RF Receiver module will receive the encoded data and decode it by using a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to rotate the motors in a special configuration to make the robot move in the same direction as that of the hand.
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2.2 APPLICATIONS Through the use of gesture recognition, remote control with the wave of a hand of various devices is possible. Gesture controlling is very helpful for handicapped and physically disabled people to achieve certain tasks, such as driving a vehicle. Gestures can be used to control interactions for entertainment purposes such as gaming to make the game player's experience more interactive or immersive.
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CHAPTER 3: LITERATURE REVIEW Our gesture controlled robot works on the principle of accelerometer which records hand movements and sends that data to the comparator which assigns proper voltage levels to the recorded movements. That information is then transferred to a encoder which makes it ready for RF transmission. On the receiving end, the information is received wirelessly via RF, decoded and then passed onto the microcontroller which takes various decisions based on the received information. These decisions are passed to the motor driver ic which triggers the motors in different configurations to make the robot move in a specific direction. The following block diagram helps to understand the working of the robot:
We divided our task into two parts to make the task easy and simple and to avoid complexity and make it error free. The first is the transmitting section which includes the following components: Accelerometer Comparator IC Encoder IC RF Transmitter Module The second is the receiving end which comprises of following main components: RF Receiver Module Decoder IC Microcontroller Motor Driver IC DC Geared Motors
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3.1 ACCELEROMETER (ADXL335) An Accelerometer is an electromechanical device that measures acceleration forces. These forces may be static, like the constant force of gravity pulling at your feet, or they could be dynamic caused by moving or vibrating the accelerometer. It is a kind of sensor which record acceleration and gives an analog data while moving in X,Y,Z direction or may be X,Y direction only depending on the type of the sensor.
Figure 3-2 ADXL335 Accelerometer PIN NO. SYMBOL FUNCTION 1 ST Sets the sensitivity of the accelerometer 2 Z Records analog data for Z direction 3 Y Records analog data for Y direction 4 X Records analog data for X direction 5 GND Connected to ground for biasing 6 VCC +3.3 volt is applied
Table 3-1 Pin description for Accelerometer WIRELESS GESTURE CONTROLLED ROBOT
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3.2 COMPARATOR IC (LM324) The comparator ic compares the analog voltage received from the accelerometer and compares it with a reference voltage and gives a particular high or low voltage. The received signal is quite noisy and of various voltage levels. This ic compares those levels and outputs in the form of 1 or 0 voltage level. This process is called signal conditioning. The figure shown below is comparator IC. The pins 1, 7, 8 and 14 are output pins. A reference voltage is connected to the negative terminal for high output when input is high or positive terminal for high output when input is low from the LM324 IC.
Figure 3-3 LM324 IC
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PIN NO. SYMBOL FUNCTION 1 Output 1 Output of 1 st Comparator 2 Input 1- Inverting Input of 1 st Comparator 3 Input1+ Non-Inverting Input of 1 st Comparator 4 VCC Supply Voltage; 5V (up to 32V) 5 Input 2+ Non-Inverting Input of 2 nd Comparator 6 Input 2- Inverting Input of 2 nd Comparator 7 Output 2 Output of 2 nd Comparator 8 Output 3 Output of 3 rd Comparator 9 Input 3- Inverting Input of 3 rd Comparator 10 Input 3+ Non-Inverting Input of 3 rd Comparator 11 Ground Ground (0V) 12 Input 4+ Non-Inverting Input of 4 th Comparator 13 Input 4- Inverting Input of 4 th Comparator 14 Output 4 Output of 4 th Comparator
Table 3-2 Pin description for LM324
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3.3 ENCODER IC (PT2262) PT2262 is a remote control encoder paired with PT2272 utilizing CMOS technology. It encodes data and address pins into serial coded waveform suitable for RF or IR modulation. PT2262 has a maximum of 12 bits of tri-state address pins providing up to 3 12 address codes; thereby, drastically reducing any code collision and unauthorized code scanning possibilities. The pin description is shown below. It has 4 input while 1 output pin. The address pins can also be utilized as data pins.
Figure 3-4 PT2262 IC
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Table 3-3 Pin description for PT2262
PIN NO. SYMBOL FUNCTION 1-8 A0-A7 Address pins 9 Vss Ground pin 13-10 D0-D3 Output pins 14 TE Enables the transmission 15-16 Osc1-Osc2 Rosc of 470K ohm is connected 17 Dout Output for transmission 18 Vcc 5V supply voltage WIRELESS GESTURE CONTROLLED ROBOT
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3.4 RF MODULE (Rx/Tx) Radio frequency (RF) 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. Although radio frequency is a rate of oscillation, the term "radio frequency" or its abbreviation "RF" are also used as a synonym for radio i.e. to describe the use of wireless communication, as opposed to communication via electric wires The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters.
Figure 3-5 RF Transmitter
Table 3-3 Pin description for RF Tx PIN FUNCTION VCC 5V supply GND Ground pin Data Input from pin 17 of PT2262 for data transmission Ant A wire attached here works as an antenna WIRELESS GESTURE CONTROLLED ROBOT
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Figure 3-6 RF Receiver
Table 4-1 Pin description for RF Rx
PIN FUNCTION VCC 5V supply GND Ground pin Data Output to pin 14 of PT2272 for data transmission Ant A wire attached here works as an antenna WIRELESS GESTURE CONTROLLED ROBOT
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3.5 DECODER IC (PT2272) PT2272 is a remote control decoder paired with PT2262 utilizing CMOS Technology. It has 12 bits of tri-state address pins providing a maximum of 3 12 address codes; thereby, drastically reducing any code collision and unauthorized code scanning possibilities. The input data is decoded when no error or unmatched codes are found. It has 1 input while 4 output pins. The address pins can also be utilized as data pins.
Figure 3-7 PT2272 IC
Table 4-2 Pin description for PT2272 PIN NO. SYMBOL FUNCTION 1-8 A0-A7 Address pins 9 Vss Ground pin 13-10 D0-D3 Output pins 14 Din Input from RF 15-16 Osc1-Osc2 Rosc of 470K ohm is connected 17 VT Indicates valid transmission 18 Vcc 5V supply voltage WIRELESS GESTURE CONTROLLED ROBOT
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3.6 MICROCONTROLLER (AT89C51) The processing is the most important part of the robot. Till now we get the data from the decoder. Based on that data decisions have to be made. So here the role of microcontroller comes up. We used a microcontroller for our robot to give it a decision capability. Our microcontroller is made up by Atmel and the product name is AT89C51. Port 1 works as an input port while Port 2 is working as output port for our program.
Figure 3-8 AT89C51 Microcontroller
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A crystal oscillator is attached to the pins 18 and 19 of the microcontroller. The oscillator creates an electrical signal of a very precise frequency which is used to keep track of time. Two capacitors are connected in parallel with the oscillator to remove unwanted frequencies.
Figure 3-9 Crystal Oscillator
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3.7 MOTOR DRIVER IC (L293D) It is also known as H-Bridge or Actuator IC. Actuators are those devices which actually gives the movement to do a task like that of a motor. In the real world there are different types of motors available which work on different voltages. So we need a motor driver for running them through the controller. The output from the microcontroller is a low current signal. The motor driver amplifies that current which can control and drive a motor. In most cases, a transistor can act as a switch and perform this task which drives the motor in a single direction.
Figure 3-10 L293D IC Turning a motor ON and OFF requires only one switch to control a single motor in a single direction. We can reverse the direction of the motor by simply reversing its polarity. This can be achieved by using four switches that are arranged in an intelligent manner such that the circuit not only drives the motor, but also controls its direction. Out of many, one of the most common
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and clever design is a H-bridge circuit where transistors are arranged in a shape that resembles the English alphabet "H".
Figure 3-11 H-Bridge As seen in the image, the circuit has four switches A, B, C and D. Turning these switches ON and OFF can drive a motor in different ways. When switches A and D are on, motor rotates clockwise. When B and C are on, the motor rotates anti-clockwise. When A and B are on, the motor will stop. Turning off all the switches gives the motor a free wheel drive. Turning on A & C at the same time or B & D at the same time shorts the entire circuit. So, never try to do it.
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3.8 DC MOTORS A machine that converts DC power into mechanical power is known as a DC motor. Its operation is based on the principle that when a current carrying conductor is placed in a magnetic field, the conductor experiences a mechanical force. DC motors have a revolving armature winding but non-revolving armature magnetic field and a stationary field winding or permanent magnet. Different connections of the field and armature winding provide different speed/torque regulation features. The speed of a DC motor can be controlled by changing the voltage applied to the armature or by changing the field current.
Figure 3-12 DC Motor
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3.8.1 DC GEAR MOTOR A geared DC Motor has a gear assembly devoted to the motor. The speed of motor is counted in terms of rotations of the shaft per minute and is termed as RPM .The gear assembly helps in increasing the torque and dropping the speed. Using the correct arrangement of gears in a gear motor, its speed can be reduced to any required figure. This concept of reducing the speed with the help of gears and increasing the torque is known as gear reduction. Reducing the speed put out by the motor while increasing the quantity of applied torque is a important feature of the reduction gear trains found in a gear motor. The decrease in speed is inversely relative to the increase in torque. This association means that, in this sort of device, if the torque were to double, the speed would decrease by one half. Small electric motors, such as the gear motor, are able to move and stand very heavy loads because of these reduction gear trains. While the speed and ability of larger motors is greater, small electric motors are sufficient to bear these loads.
Figure 3-13 DC Gear Motor WIRELESS GESTURE CONTROLLED ROBOT
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CHAPTER 4: IMPLEMENTATION The accelerometer records the hand movements in the X and Y directions only and outputs constant analog voltage levels. These voltages are fed to the comparator IC which compares it with the references voltages that we have set via variable resistors attached to the IC. The levels that we have set are 1.7V and 1.4V. Every voltage generated by the accelerometer is compared with these and an analog 1 or 0 signal is given out by the comparator IC.
Fig 4-1 Input and Output of Comparator IC This analog signal is the input to the encoder IC. The input to the encoder is parallel while the output is a serial coded waveform which is suitable for RF transmission. A push button is attached to pin 14 of this IC which is the Transmission Enable (TE) pin. The coded data will be passed onto the RF module only when the button is pressed. This button makes sure no data is transmitted unless we want to. The RF transmitter modulates the input signal using Amplitude Shift Keying (ASK) modulation. It is the form of modulation that represents digital data as variations in the amplitude of a carrier wave. WIRELESS GESTURE CONTROLLED ROBOT
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The following figure shows the modulated output of the RF module:
Fig 4-2 ASK Modulation The RF modules works on the frequency of 315MHz. It means that the carrier frequency of the RF module is 315MHz. The RF module enables the user to control the robot wirelessly and with ease. The schematic of transmitting end can be seen below:
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Fig 4-3 Transmitting Circuit
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This transmitted signal is received by the RF receiver, demodulated and then passed onto the decoder IC. The decoder IC decodes the coded waveform and the original data bits are recovered. The input is a serial coded modulated waveform while the output is parallel. The pin 17 of the decoder IC is the Valid Transmission (VT) pin. A led can be connected to this pin which will indicate the status of the transmission. In the case of a successful transmission, the led will blink. The parallel data from the encoder is fed to the port 1of the microcontroller. This data is in the form of bits. The microcontroller reads these bits and takes decisions on the basis of these bits. What the microcontroller does is, it compares the input bits with the coded bits which are burnt into the program memory of the microcontroller and outputs on the basis of these bits. Port 2 of the microcontroller is used as the output port. Output bits from this port are forwarded to the motor driver IC which drives the motors in a special configuration based on the hand movements. At a dead stop, a motor produces no voltage. If a voltage is applied and the motor begins to spin, it will act as a generator that will produce a voltage that opposes the external voltage applied to it. This is called Counter Electromotive Force (CEF) or Back Electromotive Force (Back EMF). If a load stops the motors from moving then the current may be high enough to burn out the motor coil windings. To prevent this, flyback diodes are used. They prevent the back emf from increasing and damaging the motors. The schematic of receiving end can be seen below:
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Fig 4-4 Receiving Circuit
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4.1 SIMULATION We performed a simulation of our project in PROTEUS and the code was written in C language using KEIL MICROVISION. We wrote a code for the microcontroller to run DC motors using the H-Bridge IC (L293D). In the simulation we sent the relevant data to the Microcontroller (AT89C51) through switches. The Microcontroller processed the data and sent the information to the Actuator IC (L293D). The Actuator IC upon receiving information showed response by driving the DC motors. The simulation schematic is as follow:
Figure 4-1 FYP-1 Simulation
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CHAPTER 5: CONCLUSION, LIMITATIONS AND FUTURE WORK 5.1 CONCLUSION We achieved our objective without any hurdles i.e. the control of a robot using gestures. The robot is showing proper responses whenever we move our hand. Different Hand gestures to make the robot move in specific directions are as follow:
Fig 5-1 Move Forward
Fig 5-2 Move Backward
Fig 5-3 Move Right WIRELESS GESTURE CONTROLLED ROBOT
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Fig 5-4 Move Left
The robot only moves when the accelerometer is moved in a specific direction. The valid movements are as follows: DIRECTION ACCELEROMETER ORIENTATION Forward +y Backward -y Right +x Left -x Stop Rest
Table 5-1 Accelerometer Orientation
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Our finished product can be seen in the images below:
Figure 5-10 Hand Assembly WIRELESS GESTURE CONTROLLED ROBOT
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Figure 5-11 Robot with Hand Assembly
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5.2 LIMITATIONS AND FUTURE WORK The on-board batteries occupy a lot of space and are also quite heavy. We can either use some alternate power source for the batteries or replace the current DC Motors with ones which require less power. Secondly, as we are using RF for wireless transmission, the range is quite limited; nearly 50-80m. This problem can be solved by utilizing a GSM module for wireless transmission. The GSM infrastructure is installed almost all over the world. GSM will not only provide wireless connectivity but also quite a large range. Thirdly, an on-board camera can be installed for monitoring the robot from faraway places. All we need is a wireless camera which will broadcast and a receiver module which will provide live streaming.
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CHAPTER 6: FEASIBILITY OF THE PROJECT During the development of the project we researched the feasibility in different fields, especially software and hardware. The feasibility study is shown below. 6.1 SOFTWARE We targeted to choose a language that is easy to understand and program. So we chose assembly language for our project. Assembly language is the basic language of microcontrollers. Although its not user friendly in terms of programming but still one can learn it quickly. 6.2 HARDWARE We chose accelerometer as the sensing device because it records even the minute movements. We could also have completed our project using Arduino but chose microcontroller instead because its cost is low and is easily available everywhere. There are a number of dc geared motors available but the ones we chose are capable of supporting loads up to 6kgs. 6.3 EXPENSES This project is quite cost effective. The components used are easily available in the market apart from accelerometer, RF modules and the motors. These components are quite cheap as compared to the motors which are the only expensive part in our whole project. But these particular motors are capable of providing support to loads up to 6kgs which is what we wanted.
Table 3-1 Pin description for Accelerometer ...................................................................................7 Table 3-2 Pin description for LM324 ..............................................................................................9 Table 3-3 Pin description for PT2262 ............................................................................................11 Table 3-4 Pin description for RF Tx ..............................................................................................12 Table 3-5 Pin description for RF Rx ..............................................................................................13 Table 3-6 Pin description for PT2272 ............................................................................................14 Table 5-1 Accelerometer Orientation ............................................................................................28 Table 6-1 Expenses ........................................................................................................................35
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REFERENCES
[1] Gesture Controlled Robot PPT <http://seminarprojects.com/s/hand-gesture-controlled-robot-ppt> [2] Gesture Controlled Tank Toy User Guide <http://www.slideshare.net/neeraj18290/wireless-gesture-controlled-tank-toy-transmitter> [3] Embedded Systems Guide (2002) <http://www.webstatschecker.com/stats/keyword/a_hand_gesture_based_control_interface_for_a _car_robot> [4] Robotic Gesture Recognition (1997) by Jochen Triesch and Christoph Von Der Malsburg <http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.37.5427> [5] Real-Time Robotic Hand Control Using Hand Gestures by Jagdish Lal Raheja, Radhey Shyam, G. Arun Rajsekhar and P. Bhanu Prasad [6] Hand Gesture Controlled Robot by Bhosale Prasad S., Bunage Yogesh B. and Shinde Swapnil V. [7]< http://www.robotplatform.com/howto/L293/motor_driver_1.html> [8]< http://en.wikipedia.org/wiki/Gesture_interface> [9]< http://www.wisegeek.com/what-is-a-gear-motor.htm> WIRELESS GESTURE CONTROLLED ROBOT