SSN COLLEGE OF ENGINEERING

KALAVAKKAM-603110

STUDENT RESEARCH PROJECT PROPOSAL FOR

INTERNAL FUNDING

2016-2017

THE ROBOTIC ARM MANIPULATION

(TRAM)

SUBMITTED BY

S.GAJESH (312215104086)

DANIEL JESWIN NALLATHAMBI(312215104023)

ARUL THILEEBAN S (312215104010)

UNDER THE GUIDANCE OF

DR . D. THENMOZHI

ASSISTANT PROFESSOR

DEPTARTMENT OF COMPUTER SCIENCE AND ENGINEERING

SRI SIVASUBRAMANIYA NADAR COLLEGE OF ENGINEERING

Rajiv Gandhi Salai, Kalavakkam 603110

Tamil Nadu.
 COVER SHEET

1.PROJECT TITLE:
THE ROBOTIC ARM MANIPULATION (TRAM)

2.DURATION : 12 MONTHS

3.PROJECT DOMAIN:
NATURAL LANGUAGE PROCESSING
IMAGE PROCESSING
ROBOTICS

4.DEPARTMENT:
COMPUTER SCIENCE AND ENGINEERING

5.PROPOSED BUDGET:
RS. 21,300 (Approximate)

6. MEMBERS:
S.GAJESH (312215104086)
[skg10408@gmail.com ; 9445337904]
DANIEL JESWIN NALLATHAMBI(312215104023)
[danieljeswin@gmail.com ; 9940279319]
ARUL THILEEBAN S (312215104010)
[arulthileeban023@gmail.com ; 8754219327]

7. PROJECT GUIDE:
DR . D. THENMOZHI
ASSISTANT PROFESSOR
DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING
[theni_d@ssn.edu.in ; 9884054239]
 PROJECT DETAILS

INTRODUCTION:

In our day to day lives, we have used robots or other machines for various tasks.
they have always made our lives easier .So, why not take it to the next step ? The
proposed project is a typical robotic arm of three degrees of nature which operates with
the help of natural language processing and image processing i.e computer vision. The
arm can controlled by the use of voice commands in English and also usage of image
processing to detect various objects enhances the commanding ability of the user. This
project could find applications in the fields of surgery, nuclear waste handling and
similar fields involving handling of hazardous waste or delicate materials.

MOTIVATION:

Customized robotic arms are used across the industry variably. The motivation
behind the project is that this is a highly variable one dissimilar to usual robotic arms.
Due to its various features , it can substitute humans in many fields and also what
differentiates it from other similar robots is that It could be used as a helping tool for
humans , not just replacing them . The implementation of Natural Language Processing
will enable us to control it freely instead of inputting commands which will be useful for
on the run type of situations. And the manual override option will help us in places of
extreme distress , which requires a human operation , For example , A chemical lab in
which an experiment needs high temperatures or produces toxic gases - In these
conditions , instead of humans working with safety equipment , this robotic arm could
be substituted and controlled by the workers at a distance by replicating the movement
of their arm instead of giving in commands which could go wrong.

PROJECT OVERALL DESIGN:

Our Project is to build a robotic arm having 3 degrees of freedom. It will be

operated using a Raspberry pi micro-controller, which would translate Natural
Language(NL) to Robot Understandable language(RUL) , and fed instructions as to how
to execute them. The project is based on a simulation of the same, which was completed
by a group of pass-outs this year (Ruban & Seshadhri).

We would describe the Physics and Dynamics of the System using Matlab, which
would either be run using Python, or translated into Python code. We would use Weka
for the implementation of a machine learning algorithm to convert NL to RUL, and unity
to test the Physics described using Matlab.
The entire project is divided into three modules -

1. The arm itself along with the capabilities of managing and carrying out the
operation- this includes the dynamics, the API and a manual override.

2. The second module is intended to provide the robot with the ability of sight and
therefore map the relative positions of the objects around it, and therefore
navigate it.

3. The last module is to interface everything together and wrap up loose ends.
 BUDGET ESTIMATES:(SUMMARY)

S.NO COMPONENTS PRICE QUANTITY TOTAL

(RS.) (RS.)
1 Raspberry Pi + KIT 6000 1 6000

2 Heavy duty Motors- Servo Motors 250 8 2000

3 Connecting Wires (variable) (variable) (variable)

4 Driver IC (motor drivers) 350 10 3500

5 Microphone and it's Driver 800 1 800

6 Metal/ Plastic (variable) (variable) (variable)

7 PIR Sensor 300 5 1500

8 Camera 1800 1 1800

9 Angle Sensors 500 3 1500

10 Arduino Uno 300 1 300

Total 30 21300
TIME SCHEDULE FOR THE PROJECT ( AUGUST '16 ~ JULY '17)

S.NO ACTIVITY NO. OF MONTHS

1 LITERATURE SURVEY 1

2 ARM DESIGNING/BUILDING AND API 5

3 IMAGE PROCESSING 4
(LOCATING THE OBJECT'S DISTANCE AND POSITION)

4 CONSOLIDATION AND INTERFACING THE SOFTWARE 2

MODULES

DELIVERABLES:

A robust, working robotic arm which can locate and pickup/drop objects.

An API that can be used to further work with the arm

Documentation of the same

SCOPE FOR FUTURE WORK:

It can be used to help surgeons during surgery

By making a few minor alterations, it can be used in Chemical Labs.

It can be used in construction sites in collaboration with the lego-type walls.

It can also be used as an extension of a disabled arm - by changing the algorithm to read
chemical signals instead