GESTURECONTROLLEDOPERATI

NGDEVI
CEUSI
NGARDUI
NO

1.I
NTRODUCTI
ON

ARoboti
sanelect
ro-
mechanicalsy
stem t
hatisoperat
edbyacomputerprogr
am.Robot
scan
beaut
onomousorsemi-aut
onomous.Anaut onomousr oboti
snotcont
rol
ledbyhumanand
act
sonit
sowndecisi
onbysensingi
tsenvi
ronment.

Majori
tyoftheindustr
ialrobot
sar
eautonomousastheyarerequi
redtooper
ateathi
ghspeed
andwithgreataccuracy.Butsomeappl
icat
ionsr
equi
resemi-
autonomousorhumancont
roll
ed
robot
s.

Someofthemostcommonl yusedcont
rolsy
stemsar
evoi
cer
ecogni
ti
on,t
act
il
eort
ouch
cont
rol
l
edandmot
ioncont
rol
l
ed.

Oneofthefrequent
lyimplementedmoti
oncont r
oll
edrobotisaHandGest
ureContr
oll
edRobot.
I
nt hi
sproj
ect,ahandgest ur
econtr
oll
edr oboti
sdevelopedusi
ngMPU6050,whichisa3-axi
s
Accel
erometerand3-axi
sGy r
oscopesensorandthecontrol
l
erpar
tisAr
dui
noNano.

I
nst
eadofusi
ngaremot
econtrolwi
thbut
tonsoraj
oyst
ick,t
hegest
uresoft
hehandar
eused
t
ocont
rolt
hemot
ionoft
herobot.

Theproj
ecti
sbasedonwi r
elesscommunicat
ion,wherethedatafrom t
hehandgest
uresi
s
tr
ansmit
tedt
other
obotov
erRFl i
nk(RFTr
ansmitter–Recei
verpai
r)
.

The pr
ojectis di
vi
ded int
ot ransmit
terand r
ecei
versecti
on.The circui
tdi
agr
am and
componentsar
eexplai
nedsepar
atelyf
orbot
htr
ansmit
terandr
ecei
versect
ions.

I
nordert
ounder
standthepri
nci
pleofoper
ati
onofHandGest
ureCont
rol
l
edRobot
,letusdi
vi
de
t
heproj
ecti
ntot
hreepart
s.

Thefir
stpartisgett
ingdatafrom theMPU6050Accel
eromet
erGyroSensorbytheArdui
no.The
Ardui
no cont i
nuously acqui
res datafrom the MPU6050 and based on the pr
edefi
ned
parameter
s,itsendsadat atotheRFTransmi
tt
er.

Thesecondpar toft
hepr oj
ectistheWirelessCommunicati
onbetweentheRFTransmi
tt
erand
RFReceiver.TheRFTr ansmitt
er,uponr ecei
vi
ngdat
af rom Ardui
no(t
hrought
heEncoderIC)
,
tr
ansmit
si tt
hroughtheRFCommuni cat
iont ot
heRFReceiver
.

Fi
nal
ly,
thethi
rdpar
tofthepr
ojecti
sdecodi
ngtheDatar
ecei
vedbyt
heRFRecei
verandsendi
ng
appr
opri
atesi
gnal
stotheMotorDri
verI
C,whichwi
ll
acti
vat
etheWheel
Motor
softheRobot.
2.SYSTEM SETUP

Heret hebrai
nofther
obotisAr
dui
noUno( Atmega32)i
tisf
edwit
hsomesetofcode.The
gestures/moti
onmadebyhandarerecogni
zedbyaacceler
ati
onmeasur
ingdev
icecal
l
ed
accelerometer(
ADXL335)
.

Fi
g:1.Bl
ockDi
agr
am

Fi
g:2.Tr
ansmi
tt
erci
rcui
tusi
ngAr
dui
no

Fi
g:3.Recei
vi
ngci
rcui
tusi
ngAr
dui
no
Heret heaccel
eromet erreadstheXYZcoor dinateswhenwemakegest ur
esbyhandandsend
theXYZcoor dinatestotheAr duino( herewedon’ tneedt heZaxisweneedonl ytwo
coordinat
edXandYSonegl ecttheZcoor dinate).TheAr duinochecksthevaluesofcoordi
nates
andsendsa4bi tcodet otheEncoderI C.TheEncoderpassest hedatatoRFt ransmit
terand
thetransmitt
eddat aisreceivedbyt heRFr eceiver.Ther ecei
versendsthe4bi tcodet
ot he
DecoderICandt hedecoderpassesi ttoMot orDriverIC.Latert
hemot ordri
vermakest he
deci
si ontotur
nt hetwomot orsinther equireddi r
ection.

3.
1HARDWAREUSED

 Ar
dui
noNano X 2

 434MHzRFTr
ansmi
tt
er X1

 HT-
12EEncoderI
C X1

 MPU6050Accel
eromet
er X1

 L293DMot
orDr
iverI
C X1

 HT-
12DDecoderI
C X1

 434MHzRFRecei
ver X1

 Resi
stor
s X3

 LED X3

 4Gear
edMot
orswi
thWheel
s X1

 RobotChassi
s X1

3.
2SOFTWAREUSED

 Ar
dui
noI
DE
4.EXPECTEDRESULT

I
nthi
sproject
,amobil
erobott
hatiscontr
oll
edbyt
hegest
uresmadebyt
hehand,i
sdesi
gned.
Thewor
kingofther
oboti
sexpl
ainedhere.

Asment i
onedearli
er,t
hegest
urecontr
oll
edroboti
sawi r
elessoperat
edr obotandhastwo
part
s:Transmi
tt
erandReceiver
.Whent herobotispower
edon,t hetransmitt
erpar
t,whi
ch
consi
stsofArduino,MPU6050,EncoderandRFTr ansmi
tt
er,wil
lcontinuousl
ymonitort
he
MPU6050sensor.

Thisdatai
scapturedbyt heArduino,
whichthent
ransmi
tsacorrespondingdatat
otheEncoder,
basedontheorientati
onoft heMPU6050Sensor .Theparal
l
eldatareceivedbytheencoderi
s
conver
tedi
ntoserialdataandthisseri
aldat
aistr
ansmit
tedbytheRFTr ansmit
ter
.

Attherecei
versect
ion,t
heRFReceiverrecei
vestheser i
aldat
aandt r
ansmit
sittot
heDecoder
I
C.TheDecoderwi l
lconver
ttheseri
aldatatoparal
leldataandthisparal
l
eldat
aisgi
ventothe
motordriv
erIC.Basedonthedata,themov ementoft hemotors,andhencethemovementof
theroboti
sdefi
ned.