REPORT

Hand Gesture Based Robotic Car & Robotic Arm To Pick And Place Objects

From Car

DEPARTMENT OF PHYSICS AND ASTROPHYSICS

UNIVERSITY OF DELHI

SUBMITTED BY:

 Aashri Bansal (1887195)

 Swati Goyal (1887185)
 Jatinder Pal Singh (
 Manish Kumar
 Kritika Sharma
 Manjeet
 DECLARATION

We hereby declare that the project entitled “Hand Gesture based Robotic Car & Robotic Arm
to pick and place the objects from Car” is based on our work carried out during the course
(January 2020 to May 2020) in Masters in Physics submitted at the Department of Physics
and Astrophysics, University of Delhi. We assert that the conclusions drawn and work done
are an outcome of our work. The work has not been submitted to any other Institution for any
other degree/ certificate in this University or any other University.

Whenever we have used theoretical analysis and text from other sources, we have given due
credit to them and giving their details in the references.

Date:
 ACKNOWLEDGEMENT

We would like to this opportunity to acknowledge the support of all those without whom this
project report would not have been possible.

In the accomplishment of our project we “THE ANONYMOUS” group members would like
to thank all the people who have been involved in this project. We would like to thank all the
people who have been concerned with this project. We would like to express our special
thanks of gratitude to our teachers (Prof. Nivedita Deo, Prof. Vinay Gupta, Prof. Amitabha
Mukherjee, Prof. K Sreenivas) who have helped us to put into great ideas. Every time when
we reached the, with our difficulties they welcomed them, which helped us in completing the
project successfully.

We would also like to thank our lab assistants for their generous attitude and friendly
behaviour.

We would also like to thanks Solid lab attendant for giving access to various instrumentation.

At last, we would thank each other as fellow lab-mates, for the stimulating discussions for the
completion of the project within limited time.
INTRODUCTION

Our objective for this project was to design Hand Gesture based Robotic Car & Robotic
Arm to pick and place the objects from Car.

Word robot was coined by a Czech novelist Karel Capek in 1920. Robot in Czech is a word
for worker or servant. In another words, it can be defined as any automatically operated
machine that replaces human effort.

Robots are widely used in such industries as automobile manufacture to perform simple
repetitive task, and in industries where work must be performed in environments hazardous to
humans.

Robotics is a current emerging technology in the field of science. A number of researchers

are working in this field. Robotics is the new emerging field, which will be of great use to
society in the coming years. These days many types of wireless robots are being developed
and are put to varied applications and uses.

Here, an effort has been made to developed a hand gesture based robotic car and a robotic
arm which will pick and place the objects from the car. The robotic car is operated and
controlled wirelessly with the help of hand gestures which transmits signals to the car through
an auto device which is fixed on the gloves or can say that the user just needs to carry a
gesture device which in our case is transmitter section. The car moves and acts in the manner
depending on the gestures made by the fingers and hand from a distance. The car can move in
forward, backward direction according to our hand. The robotic arm which is mounted on the
car, can pick the objects from ground and can place it in the car, this signature is followed
according to the movements of fingers and hand. It is basically servo controlled robotics
system.

Hand gesture based robotic vehicle mainly benefits in the condition where disabled persons
can’t derive the vehicle itself, in this condition they can move the vehicle in the direction they
want to go with the help of the hand gestures.

And the Robotic arm mainly benefits for places where there is a need to pick an object and
place it to some other place safely. If the object is being picked by the human, there is a risk
of damage to the object which is avoided by this system.

This system includes mainly two sections:

Robotic Glove: It consists MPU 6050, Flex sensor, RF Module 433 MHz transmitter, Arduino Nano

Robotic Vehicle: It consists DC Motors, Servo Motors, RF Module 433 MHz receiver, Arduino Uno

These different components are defined later.

APPLICATIONS:

Practical Applications of Gesture controlled Vehicle:

 Hand gesture controlled vehicle can be used by physically challenged in wheelchairs.

Practical Applications of Pick and Place Robot:

 Defence Applications: It can be used for surveillance and also to pick up harmful
objects like bombs and diffuse them safely.
 Industrial Applications: These robots are used in manufacturing, to pick up the
required parts and place it in correct position to complete the machinery fixture. It can
also be used to place objects on the conveyer belt as well as pick up defective
products from the conveyer belt.
 Medical Applications: These robots can be used in various surgical operations like in
joint replacement operations, orthopaedic and internal surgery operations. It performs
the operations with more precision and accuracy.
DESCRPTION OF THE COMPONENTS USED:

 Arduino Uno
 Arduino Nano
 MPU6050 (Gyroscope + Accelerometer + Temperature) Sensor Module
 Flex Sensor
 Servo Motor
 RF Module 433 MHz Transmitter-Receiver pair
 DC motors

ARDUINO UNO

It is an open-source platform, means the boards and software are readily available. The
software for Arduino devices is called (Integrated Development Environment) which is free
to use and required some basic skills to learn it. It can be programmed using C and C++
language.

 The Arduino Uno is a microcontroller board that is principally based on the

ATmega328 microcontroller’s series. Various sensors will forward the environmental
data as an input to the microcontroller which will correspondingly send the attached
peripherals.
 It has a total number of 28 pins; 14 digital I/O pins (six are pulse width modulation
(PWM) pins) and six pins are analogs used for interaction with the electronic
components like sensor, motors; 3 GND pins (for grounding) and remaining pins for
3.3V, 5V, Vin, RESET and AREF (Analogue Reference).
 Arduino contains a microcontroller with a 32KB storage memory, 2KB of SRAM and
1KB of EEPROM.
 Only 5V is required to turn the board on, which can be achieved directly using USB
port.

Pins description:

Pin type Pin name Details

Power Vin, 3.3V, 5V,GND Vin: Input voltage to Arduino when using an
external power source.
5V: Regulated power supply used to power
microcontroller and other components on the
board.
3.3V: 3.3V supply generated by on-board
voltage regulator. Maximum current drawn is
50mA.
GND: ground pins.
Reset Reset Resets the microcontroller

Analog pins A0-A5 Used to provide analog input in the range of

0-5V.
Input/ Output Digital pins 0-13 Can be used as input or ouput pins.
pins
Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External 2,3 To trigger an interrupt

Interrupts
PWM 3,5,6,9,11 Provides 8-bit PWM output.

SPI 10(SS), 11(MOSI), Used for SPI communication.

12(MISO) and 13(SCK)
Inbuilt LED 13 To turn on the inbuilt LED
TWI A4 (SDA), A5(SCA) Used for TWI communication.

AREF AREF To provide the reference voltage for input

voltage.

Following figure shows the Arduino Uno board:

ARDUINO NANO

The Arduino Nano is a small, complete, and breadboard-friendly board based on the
ATmega328 (Arduino Nano 3.x). It has more or less the same functionality of the Arduino
Uno. It lacks only a DC power jack, and works with a Mini-B USB cable instead of a
standard one.

 Arduino Nano has total 30 pins of which 14 are digital input and output pins (6 are
PWM), 8 analog pins, 2 GND pins, 2 RESET and remaining pins for 5V, 3V, Vin and
REF.
Following figure shows the pinout of the Arduino Nano board:

FLEX SENSOR

Flex is basically a strip of carbon material having metal pads inside it. It is a sensor which
measures the amount of bending or deflection. When the strip is bend or deflect then the
resistance of this flex sensor is changed therefore it is also called bend sensor.

The following figure shows the image of flex sensor:

This resistance was calibrated and converted into angles and further used for the grabbing
purpose in the Robotic Arm.

Working Principle of Flex Sensor

This sensor works on the principle of bending. As the sensor is flexed, the resistance across
the sensor increases. It means when the strip is bend then its resistance is changed which can
be measured with the help of controller. This change will depend upon the surface linearity or
can say depend upon the amount of bending done.

The following figure shows the change in resistance with respect to different angles:
 Flat (nominal resistance)

45⁰ Bend (increased resistance)

90⁰ Bend (resistance increased further)

So the resistance across the terminals rises linearly with bent angle. So in a sense the flex
sensor converts flex angle to RESISTANCE parameter.

Flex Sensor Pin Configuration:

Flex sensor is a two terminal device. The flex sensor does not have polarized terminals like
diode. So there is no positive and negative.

Pin Number Description

P1 Usually connected to positive of power source

P2 Usually connected to ground

How to interface Flex sensor with Arduino Board?

For measuring bend, flex sensor is used with type of controller such as microcontroller or
Arduino etc. Here we are discussing how we can interface it with Arduino board. For
interfacing with Arduino board this sensor is powered up with Arduino board. When it is
connected with Arduino board then its pin1 is connected to +5V Arduino board pin through
100K ohm resistor and pin 2 is directly connected to Arduino ground pin. Similarly, a wire is
connected between the centre point of 100k ohm resistor and flex sensor to Arduino board A0
pin. For check purposes, a led is connected to the PWM on Arduino board as shown in figure
MPU6050 (GYROSCOPE + ACCELEROMETER + TEMPERATURE) SENSOR
MODULE

The MPU-6050 sensor holds a MEMS (Micro-Electro-Mechanical Systems) accelerometer

and a MEMS gyroscope only in the single chip.

 It contains 16-bits analogue to digital conversion hardware for each of the channels
and it captures the x, y and z channel at the same time.
 MPU-6050 interfaces with the Arduino microcontroller using I2C protocol.
 It has total number of 8 pins.
 Operating voltage is 3V-5V.

Pin Name Pin Function

VCC For providing power
Ground For grounding of system
Serial Clock (SCL) SCL used for providing clock pulse for I2C
communication
Serial Data (SDA) SDA used for transferring data through I2C
communication
Auxiliary Serial Data (XDA) XDA is optional but can be used to interface other
I2C modules with MPU6050
Auxiliary Serial Clock (XCL) XCL is also optional but can be used to interface
other I2C modules with MPU6050
AD0 If more than one MPU6050 is used a single MCU,
then this pin can be used to vary the address

Interrupt pin (INT) It indicated that data is available for MCU to read

The following figure show the different pins of MPU-6050 Module:

RF MODULE 433 MHz TRANSMITTER-RECEIVER PAIR

RF modules are 433 MHz RF transmitter and receiver modules that are used to transmit and
receive the infrared waves.

 Its working voltage is between 3V-12V and consumes 12V power.

 RF transmitter can transmit up to 90m in open area.

RF Transmitter consists of three pins:

Pin Name Pin Function

ATAD Signal pin used to send data for the receiver
VCC For providing voltage
Ground Pin For grounding the module

 RF receiver working voltage is 5V.

RF Receiver consists of four pins:

Pin Name Pin Function

VCC For providing voltage

Two DATA pins To receive data from transmitter

Ground For grounding the module

The following image shows the RF transmitter- receiver pair:

SERVO MOTOR

A servo motor is an electrical device which can push or rotate an object. If we want to rotate
the object at some specific angles or distance, then we can use servo motors.

 A servo motor consists of three wires- a black wire connected to the ground
a white/yellow wire connected to control unit
a red wire connected to the power supply
 The function of the servo motor is to receive a control signal that represents a desired
output position of the servo shaft and apply power to its DC motor until its shaft turns
to that position.
 Servo motor generally requires a DC supply of 4.8-6V.

The image below given the description of the servo motor:

Working principle of Servo Motor

To understand its basic principle firstly we have to know about its internal structure. It mainly
contains a DC motor, a gear system, a position sensor and a control circuit.

 The motor is attached by gears to the control wheel. DC motor gets powered from a
battery and run at high speed and low torque. The gear and shaft assembly connected
to the DC motors lower this speed into sufficient speed and higher torque. The
position sensor senses the position of the shaft from its definite position and feeds the
information to the control circuit. Then the control circuit decoded the signals from
the position sensor and compares the actual position of the motor with the desired
position and accordingly controls the direction of rotation of the DC motor to get the
desired position.
 When the shaft of the motor is at desired position, power supplied to the motor is
stopped. The desired position is sent via electrical pulses through the signal wire. The
motor’s speed is proportional to the difference between its actual position and desired
position.
Controlling of Servo Motor

A servo motor is controlled by controlling its position using Pulse Width Modulation
technique. The width of the pulse applied to the motor is varied and send for a fixed amount
of time.

 The PWM determines the angular position of the servo motor.

 For example, a pulse width of 1ms causes an angular position of 0⁰, whereas a pulse
width of 2ms causes an angular width of 2ms causes an angular width of 180⁰.

DC MOTORS

A DC motor is a class of rotary electrical motors that converts direct current electrical energy
into mechanical energy.

Image of the DC motor is shown below: