Hand movement controlled robotic vehicle

A
Project Report
ON
(HANDMOVEMENTCONTROLLEDROBOTICVEHICle)
Submitted in partial fulfillment for award of Bachelor’s degree in
ELECTRICAL ENGINEERING
SUPERVISED BY:- SUBMITTED BY :-
MR. SABIR ALI MAYANK SANKHLA
SESSION 2013 – 2017
DEPARTMENT OF ELECTRICAL ENGINEERING, MARUDHAR ENGINEERING COLLEGE,
BIKANER (RAJSTHAN)

FINAL APPROVAL
This is to certify that we have read the project title submitted by Mayank Sankhla, Himanshu
swami, Chandrapraksh Prajapat and Mohd. Shahid as mentioned on the title page. It is our
judgment that this project is of standard to warrant its acceptance by Marudhar Engineering
College, Bikaner, Rajsthan-334001, for the degree of B.tech (EE).
Examination Committee:
1. Project Supervisor:
_____________________
Mr. Sabir Ali
Lecturer
Department of Electrical Engineering
Marudhar Engineering College, Bikaner
2. Head of Department of Electrical Engineering:
_____________________
Mr. Javed Khan Bhutto
Principle
Marudhar Engineering college, Bikaner
(I)

STUDENT’SDECLARATION
I declare that this project entitled “HAND MOVEMENT CONTROLLED ROBOTIC
VEHICLE”, submitted as requirement for the award of B.TECH (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 personexcept where due reference is
made in the text.
………………….. (…………………) SIGNATURE__________________
Mayank Sankhla (…………………) SIGNATURE__________________
………………… ( ………………) SIGNATURE__________________
……………………………. (………………) SIGNATURE________________ __
(II)

PROJECTREPORT ON HANDMOVEMENT CONTROLLEDROBOTIC VEHICAL
MARUDHAR ENGINEERINGCOLLEGE, BIKANER(RAJ)
ACKNOWLEDGEMENT
We hereby certify that the work which is being presented in the report
entitled “Hand Movement Controlled Robotic Vehicle” by Mayank
Sankhla in partial fulfillment of requirements for the award of degree
of B.Tech(4rd
year, Electrical Engg) submitted in the Department of
Electrical Engg. at Marudhar engg. College, Bikaner is an authentic
record of our own carried out during a period from Dec 26, 2016 to
April 15, 2017 under the supervision of Mr. Sabir Ali.
(III)
ABSTRACT

Hand movement controlled robotic vehicle 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.
(IV)

TABLE OF CONTENTS
CHAPTER 1: INTRODCUTION ........................................................................1
1.1 Robot................................................................................................................. 1
1.2 Human Machine Interaction ..............................................................................1
1.2 Gesture ..............................................................................................................2
1.1 Motivation For Project ......................................................................................2
1.2 Objective Of Project .........................................................................................2
CHAPTER 2: GESTURE CONTROLLED ROBOT.........................................3
2.1 Gesture Controlled Robot................................................................................. 3
2.2 Applications ......................................................................................................4
CHAPTER 3: LITERATURE REVIEW ............................................................. 5
3.1 Accelerometer (ADXL335) ...............................................................................7
3.2 Comparator IC (LM324) .................................................................................... 8
3.3 Encoder IC (PT2262) ....................................................................................... 10
3.4 RF Module (Rx/Tx) ......................................................................................... 12
3.5 Decoder IC (PT2272) ..................................................................................... 14
3.6 Microcontroller (AT89C51) ........................................................................... 15
3.7 Motor Driver IC (L293D) ............................................................................... 17
3.8 DC Motors ........................................................................................................ 19
3.8.1 DC Gear Motor ............................................................................................. 20
CHAPTER 4: IMPLEMENTATION ................................................................. 21
4.1 Simulation ........................................................................................................26
(V)

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
(VI)

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. 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).

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

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.

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.

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:
Figure 3-1 BlockDiagram

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

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

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

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
312 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

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.

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 312 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

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

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

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

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.

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.
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

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

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. 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.

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:

Fig 4-3 Transmitting Circuit

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:

Fig 4-4 Receiving Circuit

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

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
Fig 5-4 Move Left
The robot only moves when the accelerometer is moved in a specific direction. The valid
movements are as follows:

Our finished product can be seen in the images below:
Figure 5-5 Robot-1
Figure5-6 Robot-2

Figure 5-7 Robot Wheel
Figure 5-8 Receiving Circuit

Figure 5-9 Transmitting Circuit
Figure 5-10 Hand Assembly

Figure 5-11 Robot with Hand Assembly

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.

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.

MICROCONTROLLER CODE

LIST OF FIGURES & TABLES
Figure / Table No. Page No.
Figure 3-1 Block Diagram ...............................................................................................................5
Figure 3-2 ADXL335 Accelerometer ..............................................................................................7
Figure 3-3 LM324 IC ......................................................................................................................8
Figure 3-4 PT2262 IC ....................................................................................................................10
Figure 3-5 RF Transmitter .............................................................................................................12
Figure 3-6 RF Receiver .................................................................................................................13
Figure 3-7 PT2272 IC ....................................................................................................................14
Figure 3-8 AT89C51 Microcontroller ...........................................................................................15
Figure 3-9 Crystal Oscillator .........................................................................................................16
Figure 3-10 L293D IC ...................................................................................................................17
Figure 3-11 H-Bridge ....................................................................................................................18
Figure 3-12 DC Motor ...................................................................................................................19
Figure 3-13 DC Gear Motor ..........................................................................................................20
Figure 4-1 Input and Output of Comparator IC ............................................................................21
Figure 4-2 ASK Modulation ..........................................................................................................22
Figure 4-3 Transmitting Circuit ....................................................................................................23
Figure 4-4 Receiving Circuit .........................................................................................................25
Figure 4-5 Simulation ....................................................................................................................26
Figure 5-1 Move Forward .............................................................................................................27
Figure 5-2 Move Backward ...........................................................................................................27
Figure 5-3 Move Right...................................................................................................................27
Figure 5-4 Move Left ....................................................................................................................28
Figure 5-5 Robot-1 ........................................................................................................................29
Figure 5-6 Robot-2 ........................................................................................................................29

Figure 5-7 Robot Wheel.................................................................................................................30
Figure 5-8 Receiving Circuit .........................................................................................................30
Figure 5-9 Transmitting Circuit ....................................................................................................31
Figure 5-10 Hand Assembly..........................................................................................................31
Figure 5-11 Robot with Hand Assembly .......................................................................................32
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

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>

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