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AU-02-05-08491
Name
AU-02-05-08493

Supervised by
Name

Submitted In Partial Fulfillment for The Degree Of Bachelor Of

Studies In Computer Science

FAZAIA BILQUIS COLLEGE OF EDUCATION FOR WOMEN PAF NUR

KHAN RAWALPINDI
JUNE, 2022

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 This work, entitled
“Project Title” has been approved for the award of

Bachelors of Studies in Computer Science

Date: 2nd June, 2022

Supervisor: Name

External Examiner: Name

Head of Department: Name

Department of Computer Science

FAZAIA COLLEGE OF EDUCATION FOR

WOMEN
PAF NUR KHAN RAWALPINDI

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 Intellectual Property Right Declaration

This is to declare that the work under the supervision of

Name having title: Project Name carried out in partial
fulfilment of the requirements of Bachelor of Studies in
Computer Science, is the sole property of the BPGCW and is
protected under the intellectual property right laws and
conventions. It can only be used for purposes like extension
for further enhancement, product development, adoption for
commercial/organizational usage, etc., with the permission
of the University.

Date: 2nd June 2022

Name: Signature: ____________

Name: Signature: ______________

Anti-Plagiarism Declaration

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This is to declare that the above publication produced under the supervision of
Name having title: Name is the sole contribution of the author(s) and no part
hereof has been reproduced on as it is basis (cut and paste) which can be
considered as Plagiarism. All referenced parts have been used to argue the
idea and have been cited properly. I/We will be responsible and liable for any
consequence if violation of this declaration is determined.

Date: 2nd June, 2022

Author(s):

Name: Seerat Rana Signature: ____________________

Name: Nooria Ijaz Signature: ____________________

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 ACKNOWLEDGMENTS

In the name of Allah, the Most Gracious and the Most Merciful
Alhamdulillah, all praises to Creator of the universe for the strengths and His
blessing in completing this project. This study is nothing, but an effort to
understand and articulate the principles of one of the several hundred thousand
phenomena, with a tool, the brain, a precious gift from Almighty.
We would like to express our sincere gratitude to our advisor Nam for the
continuous support of our BS Project, for her patience, motivation,
enthusiasm, and immense knowledge. Her guidance helped us in all the time
of research and writing of this thesis. I could not have imagined having a
better advisor and mentor for this project.

(Name)
Registration No
(Name)
Registration No

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 DEDICATION

We dedicate this project to the sake of Allah, our creator, and our great teacher
and messenger, Muhammad (May Allah Bless and Grant him), who taught us
the purpose of life. Our beloved Supervisor, Name leads us through the valley
of darkness with light of hope and support. Our great parents never stopped
giving of themselves in countless ways. Our friends have encouraged and
supported us. All the people in our life who helped us in completing this
project, we dedicate this project to them.

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 TABLE OF CONTENTS
Contents

ACKNOWLEDGMENTS V

DEDICATION Vi

LIST OF FIGURES Xi

ABSTRACT Xiii

Chapter 1- INTRODUCTION 1

1.1 Purpose Of The Project 2

1.2 Purpose Of This Document 2

1.3 Overview Of This Document 2

1.4 Existing System 3

1.4.1 Existing System Description 3

1.4.2 Problems In The Existing System 4

1.5 Objectives Of The Project 4

1.6 Literature Review 5

1.7 Research Gap 5

1.7.1 Research Questions 5

1.8 Problem Statement 5

1.9 Scope Of This Proejct 5

1.10 Tools And Techniques 5

1.11 Management Of Project 5

Chapter 2- SYSTEM ANALYSIS 9

2.1 Data Analysis 9

2.1.1 Flow Diagram 9

2.1.2 System Requirements 10

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 2.1.2.1 Clients, Customer And Users 10

2.1.2.2 Functional And Data Requirements 10

2.1.2.3 Non-Functional Requirements 11

2.1.3 Proposed Solutions 12

Chapter 3-DESIGN CONSIDERATIONS 14

3.1 Design Constraints 14

3.1.1 Hardware And Software Environment 14

3.1.2 End User Characteristics 14

3.2 Architectural Strategies 15

3.2.1 Sensors 15

3.2.2 Manual Functioning 15

3.2.2 Reuse Of Existing Software Components 15

3.2.3 Project Management Strategies 16

3.2.4 Development Method 16

3.2.5 Future Improvements/Plans 16

Chapter 4-SYSTEM DESIGN 17

4.1.1 System Architecture and Program Flow 17

4.1.2 Program Flow 18

4.2 Detailed System Design 19

4.2.1 Detailed component description 19

4.2.1.1 Arduino UNO 19

4.2.1.2 PCA9685 Arduino Servo Shield 19

4.2.1.3 HM10 Bluetooth 4.0 BLE 20

4.2.1.4 TCS3200 Color Sensor module 21

4.2.1.5 6 DOF Mechanical Arm 22

4.3 Use Case Diagram for Modes 24

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 4.3.1 Use Case Diagram for User 24

4.3.2 System Use Case Diagram 25

4.4 Class Diagram 26

4.5 Sequence Diagram 27

4.5.1 System Sequence Diagram 26

4.6 ERD Model 26

Chapter 5 – IMPLEMENTATION 28

5.1 Introduction 28

5.1.1 28

5.1.2 28

5.2 Algorithm 30

5.2.1 Algorithm for Application 31

5.2.2 Algorithm for Movement of Robotic Arm 31

5.2.3 Code of Color Picking 32

5.2.4 Code of Serial Connectivity: 35

5.2.5 Code of Testing 37

5.2.6 Code of Servo Position: 47

5.3 Implementation 50

5.3.1 Main Screen of Node Red 50

5.3.2 Manual Mode Implementation 51

5.3.3 Bluetooth Module Implementation 52

5.3.4 Sensor based Implementation 52

5.4 Output 52

5.4.1 Software Implementation: 52

5.4.1.1 Mode Selection 52

5.4.1.2 Sensor Mode 54

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 5.4.1.3 Color Picker 54

5.4.1.4 Manual Mode 55

5.4.2 Final Hardware 57

Chapter 6 – TESTING AND EVALUATION 60

6.1 Testing 60

6.2 Unit Testing 60

6.3 Test Cases 61

6.3.1 Test Case 1 (Login) 61

6.3.2 Test Case 2 (Manual Mode) 61

6.3.3 Test Case 3 (Sensor Mode) 62

6.3.4 Test Case 4 (Colour Picker) 63

6.4 Evaluation 64

Chapter 7 – CONCLUSION AND FUTURE WORK 65

7.1 Conclusion 65

7.1 Future Work 66

APPENDICES 67

Appendix A: HDL or Source Code 67

Flows in Node-Red 67

Arduino’s Code: 69

Refrences 70

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LIST OF FIGURES
Figure 2.1: Flow diagram 9
Figure 2.2: Illustration of Gestures 10
Figure 3.1: Manual Functioning 15
Figure 4.1: Architecture of Robo Arm 17
Figure 4.2: Working of Robo Arm 18
Figure 4.3: Program Flow 18
Figure 4.4: Arduino UNO 19
Figure 4.5: PCA9685 Arduino Servo Shield 20
Figure 4.6: HM10 Bluetooth 4.0 BLE 21
Figure 4.7: TCS3200 Colour Sensor module 22
Figure 4.8: 6DOF Mechanical Arm 23
Figure 4.9.1: Use Case Diagram for modes 24
Figure 4.10: Use Case Diagram for User 24
Figure 4.11: System Use Case Diagram 25
Figure 4.12: Class Diagram 26
Figure 4.13: Circuit Diagram 26
Figure 4.14.1: Sequence Diagram 27
Figure 4.15.2: System Sequence Diagram 27
Figure 5.1.: Node Red Interface 29
Figure 5.2: Node Red Interface Connectivity with Hardware 30
Figure 5.3: Node Red Interface 50
Figure 5.4: Node Red Interface 51
Figure 5.5: User Interface Control 51
Figure 5.6: Bluetooth Module Implementation 52
Figure 5.7: Sensor Based Implementation 52
Figure 5.8.1: Mode Selection Interface 53
Figure 5.9.2: Mode Selection Interface 53
Figure 5.10: Sensor Mode 54
Figure 5.11.1: Colour Picker 54
Figure 5.12.2: Colour Picker 55
Figure 5.13.1: Manual Mode 55

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Figure 5.14.2: Manual Mode 56
Figure 5.15.3: Manual Mode 56
Figure 5.16: Components of the six DOF robotic arm kit 57
Figure 5.17: Robot arm screws and where to place them 57
Figure 5.18: connecting the shoulder servo to the arm 58
Figure 5.19: Elbow connected to the arm 58
Figure 5.20: Inferior wrist servo (left) and superior wrist servo (right) 58
Figure 5.21 Gripper connected to the wrist 59
Figure 5. 22: Assemble a Robo Arm on a Dashboard 59
Figure 5.23: FINAL HARDWARE 59
Table 6.3.1: Test Case 1 (Login) 61
Table 6.3.2: Test Case 2 (Manual Mode) 62
Table 6.3.3: Test Case 3 (Sensor Mode) 63
Table 6.3.4: Test Case 4 (Colour Picker) 64

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 ABSTRACT

The abstract is a very brief summary of the report's contents. It should be

about half a page long. Somebody unfamiliar with your project should have a

good idea of what it's about having read the abstract alone and will know

whether it will be of interest to them.

Keywords:

In alphabetical order

Chapter 1 INTRODUCTION
Robotics technology deals with plan, advancement, and benefit. Robotics
nowadays centers on the advancement of frameworks that give affectability,
modularity, adaptability, repetition and resistance of deficiencies. The
automation plays a noteworthy portion within the program to spare human
endeavors. This framework is valuable for customary tasks that are carried out
frequently. Vaishnav and Tiwari (2015) focused that picking and placing of
objects from source to goal is one of the major and most commonly done task
of robots. By giving sensor based to the robot Arming this profoundly creating
industry and man control are basic imperatives for completion of work.
According to Khajone et al. (2015) in order to spare human endeavors, the
computerization is playing imperative part in this framework. This framework
is valuable for normal and as often as possible carried works.

Robo Arm is and articulated mechanical robotic arm that can be moved from
mobile phone physically or by sensors of phone. User can be able record and
play the movement. This arm demonstrates the working in three modes:

Manual

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Each of six servos can be adjusted to desired position.

Sensor Slaved

The arm follows the orientation sensor and is automated.

Color Picker

The arm picks the object based on color selected and is automated.

Gesture Robo Arm is the core component of the project. To operate this
robotic arm the user grips connected Smartphone, and lets his hand rotate or
move, in any direction. The measuring instrument at intervals that is the
phone, is controlled in order to come up with most minimum price for moving
the hand in three dimensional co-ordinates. This process relies upon the
conditions of external environment. The android application will perform the
task of sensing the standardization of measuring instrument and producing the
smallest values from it. On the basis of obtained values, the determinant value
is sent to the Arduino UNO by it, using the Bluetooth. The module: HM10
Bluetooth 4.0 BLE accepts the knowledge and transmits this knowledge to
Arduino UNO wherever, it checks determinant price and moves the Arduino
consequently. This complete method is under the associate degree of infinite
loop; therefore, it is supposed to run as long because, power is equipped.
Hence, the output relies on the computing mechanism that is used for the
management of the Robo arm.

1.1 Purpose of the Project

Main purpose behind designing and implementing this project is project is to
supply a technique that is more natural and reliable for the users in order to
navigate the robotic arm within an environment by using the mobile
application, window application, color sensors and the hand gestures.

1.2 Purpose of this Document

This document is developed in order to give comprehensive description about
Robo Arm to the readers and the users. This document will help them to figure
out their queries about the project and do further research on the basis of the

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current work done. This document will describe all the processing,
composition and working of the Robo Arm.

1.3 Overview of this Document

Mechanical innovation explored nowadays is centered on making the systems
that measures quality, versatility, redundancy and adjustment to inner
disappointment. A few diverse analysts are completely robotizing a collecting
strategy or a task, by giving sensor basis to the robot. Arming the
manufacturing industry and labor are fundamental impediments for
culmination of work. In order to utilize communication with innovative world,
various calculations and ways are anticipated and implemented. In this way
the objective behind acknowledgement of gestures is also accomplished. The
ways through which the individuals communicate among themselves, can be
executed in correspondence to the progressed world by interpreting the
movements through various logical calculations. Various methods and designs
have been anticipated and actualized in order to achieve the objective of
gesture acknowledgement and its uses in the digital world. These days, Mobile
phones are equipped with Bluetooth sensors. The Mobile phone can be
anything but difficult to execute, modest to give and the yield will be
progressively natural by utilizing signal control.

1.4 Existing System

There are different ways in which a mechanical arm may be controlled.
Within, the past there have been numerous analysts working to control the
automated arm through computer terminals, joysticks, indeed meddle them
with the web so that they can be controlled from anyplace within the world.

(Write the background here)

1.4.1 Existing system description

Arefin et al. (2018) outlined in their work that a remote control of human
mechanical arm. It contains four mobile fingers, each with three linkages, and
restricting thumb with a pivoting wrist and an elbow. The hand glove contains
five direct slide potentiates for controlling the finger developments and an

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accelerator is additionally given for the wrist and elbow developments. A
handy human mechanical arm with seven degrees of opportunity has been
planned. The utilization of this module limits the farther get to of the robotic
arm to many meters. And, in another system proposed and analyzed
performance of a wireless robotic is a using of flex sensors Brahmani et al.
(2013). The designing and development of a robotic arm having five fingers is
used for the patients of leprosy as it has a smaller degree of dexterity. The
robotic hand for tele-surgery using haptic technology Pawar and Lad (2016)
was also implemented. But the major limiting factor was the time delay
between the instructions. However, our project deals with the efficient
working of BLE Bluetooth Module. And, deals with the proper working of
robotic arm with the accessibility of gesture, sensor or color picking module.

1.4.2 Problems in the existing system

The existing system’s problem is the management and efficient working of
robotic arms. The hardware part is much complex and inefficient. The
technology of MEMS, gloves and flex sensors have implied that are not much
reliable and efficient.

1.5 Literature Review

The field of robotics emerged in 90’s with invent of Helpmate Robots and
Robot-Caddy Nestsiarovich and Vasilieva (2019). After this, an exponential
development is seen in this field. Along with this, the topic of controlling the
robots is under research for a long time. Various kinds of robotic arms have
been developed in order to reduce efforts of human beings for mechanical
operations. The complex process of fabrication makes these arm very much
complicated and costly as well. The main purpose behind making of robotic
arms is to perform repeated jobs with the help of robotic arm instead of
utilizing the man power. While designing the robotic arms, according to Joy
(2014) there are different parameters that must be considered. For example,
kinematics, speed, strength, ideal weight and capacity of bearing load are the
parameters that stand best for the mechanical structure of the robotic arm. On
the other hand, if we consider the parameters related to electronic design

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drivers, motors, controlling elements and sensors are the parameters that must
be considered. Recognizability, compatibility, implementation and user
interfaces are the characteristics of software design for the robotic arm. In this
section of the documentation, the previous work and research related to robots,
gesture control and robotic arms has been discussed.

Several ways and methodologies have been developed in order to implement

and actualize the gestures for purpose of controlling the robots. For example,
Venkatnarayan and Shahzad (2018) presented light-based gesture recognition
for controlling the robots with light sensors, Tao et al. (2017) presented vision
base gesture recognition for controlling the robots with vision sensors and Guo
and Xi (2017) presented motion-based gesture recognition for controlling the
robots with motion sensors. Similarly, a lot of research has been done in order
to control the robotic arm. Like, in past the researchers worked on controlling
the robotic arm by terminals of computers, joysticks and even connecting them
with internet in order to control them from anywhere they want.

Khajone et al. (2015) stated that Pedro Neo proposed the technique of
industrial robots based on the accelerometers. The accelerometers are attached
to arms of human beings and the behavior is captured. This approach is easy to
work but the absence of gyroscope in the system makes it inefficient.

Bhuyan and Mallick (2014) designed such kind of anthropomorphic robotic

arm that can be controlled wirelessly. It’s composed of 4 fingers that can move
and each has 3 linkages, a thumb, a rotating wrist and lastly, an elbow. To
control the movements of fingers a hand glove is used. But this design is not
considered efficient because it lacks in accessing the robotic arm remotely
within a distance of only a few meters.

Brahmani et al. (2013) used the flex sensors for analyzing the performance of
wireless robotic hand. This solution was very precise and cost effective also. It
aided in treating the patients of leprosy. This approach was also used in tele
surgeries through haptic techniques and technology. But its major issue was

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that the time required for executing the instructions was higher and this delay
can lead serious threats to patient’s life.

Wakode et al. (2019) focused on developing robotic arm by the use of Flex
sensors and direct current motors that are connected via Arduino UNO. This
kind of robotic arms are easy to operate and cheap. They are free from wired
connections but they still require enhancement and addition of new ideas.

Vaishnav and Tiwari (2015) gave a detailed overview of such kind of robots
that are operated and controlled by the handicaps or hand gloves via Bluetooth
in wireless manner. The input is supplied through sensor, LCD display and
Bluetooth device, while the output is generated by NXT microcontroller,
motor and the camera. The Bluetooth used is classic one that is not secure and
reliable.

Katal et al. (2013) discussed the process of designing and implementing the
synchronized robotic arm. This robotic arm performs the functions of picking
and placing the objects but unfortunately, this robotic arm does not contain
any sensor in it.

Pawar and Lad (2016) discussed and proposed the haptic technology in order
to design a robotic arm based on this technology. The Potentio meters are
responsible for providing the haptic feedback. It does not use the sophisticated
system. But this technology has an issue that the feedback provided is not
reliable.

In order to fill all of these gaps we have proposed the Robo Arm. Robo Arm
moves according to the movement or gestures of hands or by remotely
accessing the Robo Arm with application. Robo Arm is an articulated arm
which can be controlled via Bluetooth, hand gestures and an Android
application simultaneously. There are three modes in the Arm. First, the
Manual mode in which each of six servos can be adjusted to desired position.
You can simply move the arm with Bluetooth in your portable phone by
moving the sliders on app. The sliders consist of rotates, clutching, lifting,
neck, swing or elbow. At the same time, you'll be able to save your positions

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and you will be able to play them later. Second is Motion Mode that
employments your phone's Orientation Sensor and Nearness Sensor. When
they are changed, app sends commands to Arduino. Third is the color picking
mode in which the arm picks the object of selected color and is automated.
The Center module chosen is HC-06 Bluetooth 4.0 module. By utilizing this
Bluetooth module, Bluetooth highlights can be rapidly included to Arduino.
The manufacturing plant setting is slave mode, but the module can be set to
ace mode so that other Bluetooth 4.0 gadgets can be associated. The
Bluetooth 4.0 module gets commands from the application on the android
gadget and sends it to the controller.

1.6 Research Gap

Motion, degree of freedom, kinematics and user friendliness are most
important characteristics of robots. Previous robotic arms were not efficient in
all of the above characteristics somehow. For example, previous robotic arms
contained five degree of freedom and many of them were not articulated.
More number of servo motors were implied that increased the hardware
expenses. The Bluetooth used was the classic one that is not secure nor
efficient. robotic arm. But in this project, the user can use mobile application
to control the movement of the robotic arm. Bluetooth low energy can also
control the movement of robotic arm in hand gesture mode. The gyro and
accelerometer sensors of mobile phone play an important role for this
development. The latest technology of Node Red is also used in this project.

1.7 Problem Statement

Kinematics and Degree of freedom are the most important features of robotics.
In Previously developed robotic arms the speed, acceleration and DOF were
not complementary. The use of servo motors made the robotic arms too
complex and increased the hardware portion. We have used servo shield that
accelerates and speeds up the robotic arm and has the capacity to run 16 servo
motors at a time. Motion control is important for a good robotic arm. We have
tried to bring forward the enhanced degree of freedom by increasing the
number of joints and using them efficiently.

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1.8 Scope of this Project
Robo Arm is designed in such a way that it can provide help in surgery,
agricultural fields, and industrial areas and in rescuing the bomb squad. The
doctors (can do surgical treatment of the patient even they are far from
operation theater by just controlling the robot through hand held application),
agricultural fields (famers can plug the flowers or fruits in desired location).
Industrial areas (employs can perform the action of picking or placing the
things from one place to another through Robo arm), and in rescue (robotic
arm is used as a key element in bomb squad that can carry and place the bomb
at a safe location by just handling the arm from far away).

1.9 Tools and Techniques

Various tools and techniques that are used in this project are mentioned below:

• NODE RED
• Arduino

1.10 Management of Project

This project deals and manages the plan and usage of a Robot with remote
signal control by utilizing Arduino UNO and an Android or windows based
application to control the motions by means of Bluetooth through insignificant
and uncertain tools necessities. The system can be comprehensively described
into two fragments: The Equipment part consists of Arduino UNO, HM10
BLE Bluetooth module with version 4.0 and an Android Phone, whereas the
software part consists of a put together Node Red Application run on android
and with the availability windows application or browser. Robotic arm has
been created which is as per human hand motion. The robot is indicating
appropriate reactions at whatever point as our hand moves. Distinctive hand
motions can sort the robot in explicit ways with left, right, forward and in
reverse direction. Likewise, it can recognize the types through sensors and
pick the ideal shading. And furthermore, as we are utilizing pick and spot
which is a framework that picks object from source area and spots at wanted
area.

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Chapter 2 SYSTEM ANALYSIS
2.1 Data Analysis
2.1.1 Flow Diagram

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 Figure 2.1: Flow diagram

Trainable Robo arm is able to detect the five gestures i.e. right, backwards,
left, and forward and stop. Illustration of these gestures is given below.

Figure 2.2: Illustration of Gestures

2.1.2 System requirements

2.1.2.1 Clients, customer and users
Automobile industries, Medical Industry, Patients and Stake holders.

2.1.2.2 Functional and data requirements

In this sub-section of report all of the requirements of trainable robotic arm are
described:

Recognition of human gestures:

Human gestures should be recognized by the robotic arm.

Manual Movement of robotic arm with mobile phone:

Arm should move with Bluetooth in cell phone with the movement of sliders
in mobile app.

Movement through sensors of mobile phone:

The commands should be sent to Arduino with help of sensors of mobile

phone.

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Picking and Placement of objects:

The robotic arm should pick and place the objects based on given color.

Controlling Robotic Arm via Bluetooth:

The robotic arm should be controlled from a long distance such as from a site
distance and the communication range is100m.

2.1.2.3 Non-functional requirements

2.1.2.3.1 Look and feel requirements
Interactive User Interface

The software user interface should be compatible to android mobile phone and
also web based, with the help of which users can control the robotic arm. The
software implementation can be done through any software or programming
tools like, Node Red for Android and Windows application development in a
graphic development environment.

Hardware Interface

The android mobile phone must have BLE (Bluetooth low energy) for lower
power consumption. Arduino microcontroller is an interface which is used to
control the robotic arm. Node-Red is the hardware interface for the system to
run on the network and low-cost hardware like Raspberry Pi and cloud as well.

Software Interface

The Software interface requires a Mobile Application for Manual and Gesture
modes. Node-Red is required for browser-based flow editor for flows of wires.

Communications Interfaces

The communication between user and system is held through mobile

application. The communication interface is Bluetooth connectivity for the
mobile application to work properly.

2.1.2.3.2 Usability requirements

Graphical User Interface

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 ● User interface should be efficient and friendly.
● All the widgets of mobile app should be user friendly.
● Both of the modes i.e. Manual and Sensor, should be clearly visible for
better performance.

2.1.2.3.3 Security requirements

● The Bluetooth connectivity should be secure.

2.1.3 Proposed Solutions

Mobile App

Use latest version of Android Phone.

Operating system of the android is up-to-date.

Mobile Application should have login form.

Maintain the uniqueness of mobile application.

Node-Red

Use Node-Red to run the application on a local host or android.

Use Node Red for easy and browser-based setup the wires of hardware.

Use Node-Red platform for importing or exporting the flows and

deploy them with just a single click on run time

Sensors

Sensors should be robust to recognize human gestures.

Bluetooth

BLE 4.0 is used instead of classical Bluetooth.

Requires a lower consumption of power and batter saving.

More compatible and secure as compared to classic one’s.

Having a higher range i.e. 100 meters.

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PCA9685 Arduino Servo Shield

Use PCA9685 Arduino Servo Shield as, it can control twenty servo
motors at a time. Six, servo motors have been used and every servo
motor has three wires which in a whole makes a large number of wires
that is difficult to manage.

25
Chapter 3 DESIGN CONSIDERATIONS
3.1 Design Constraints
3.1.1 Hardware and software environment
Robo Arm is using an Android phone as well as computing module like Node
Red for the development of application that will be used for the working of
robotic arm. It can make a connection with Arduino UNO and it provides
connectivity of application via Bluetooth. Mobile phone supporting the
accelerometer sensor and gyro sensor support the application as well. When
user start the application, Bluetooth is connected. Through Bluetooth module
connectivity, the movement of arm can be held in a smooth manner.

3.1.2 End user characteristics

Following are the user characteristics of our project.

Product

1. The proposed system can pick and place the objects

2. This system can also perform the job of color picking
3. This system can provide safety to the user in the form of secure
Bluetooth

User

1. User can obtain how the system perform its functionality

2. User can enable, disable and interact with product
3. User can save his positions in the application
4. User can scan his desired colors
5. User can perform his repeated jobs by robotic arm
6. User can use any of three modules according to requirements
7. It’s a time saving approach for the user

Organization

1. Can be easily implemented

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 2. Saving man power
3. Saving cost of organization
4. Security organizations can use this robotic arm for bomb squad and
save human life in case of any danger

3.2 Architectural Strategies

3.2.1 Algorithm to be used
As we are doing classification (Random Tree) in our project for
different diseases related to body temperature and our project will predict the
disease from these classifiers.

3.2.2 Data Set

We collected the data set of 130 patients (Randomly) from Combined
Military Hospital. The dataset contains no of observations and features like
Body temperature heart rate, Fatigue etc. and also label like heat stroke,
Hyperthermia.

3.2.2 Reuse of existing software components

As the product is similar to the other wearable gadgets which can tell
the human body temperature and pulse rate simultaneously. but we are using
website there are some website like MySignals which are doing the same as
we did in our final year project but we don’t have android application as the
MySignals have.

3.2.3 Project management strategies

The strategies we are using to start this project on hospital or clinic
after the successful experience then we will launch our product in market
level.

3.2.4 Development method

The system is using a raspberry pi 3(microcomputer) and we work on
raspbian(OS) the pulse and temperature are connected with raspberry pi and it
can provide human temperature and pulse rate continuously.

27
3.2.5 Future enhancements/plans
In Future we will implement this wearable gadget to the hospitals so
the doctor can monitor patient at his home to save time. And also include
some more functionality to our product like human movement, cough sensing
and also made an android application for the people.

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Chapter 4 SYSTEM DESIGN
4.1.1 System Architecture and Program Flow
Architecture of robotic arm is shown in the diagrams given below:

Figure 4.1: Architecture of Robo Arm

29
 Figure 4.2: Working of Robo Arm

4.1.2 Program Flow

Manual

Sensor
Select Mode
User Color
Perform Actions Picker

User
Login Recognize the
Interface
actions

System Do as directed

Results

Figure 4.3: Program Flow

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4.2 Detailed System Design
4.2.1 Detailed component description
(Explain all the modules or components of your project)

4.3.1 Use Case Diagram for Modes

Figure 4.9.1: Use Case Diagram for modes

4.3.2 Use Case Diagram for User

Figure 4.10: Use Case Diagram for User

31
4.3.3 System Use Case Diagram

Figure 4.11: System Use Case Diagram

32
4.4 Class Diagram

Figure 4.12: Class Diagram

4.5 Sequence Diagram

33
 Figure 4.14.1: Sequence Diagram

4.5.1 System Sequence Diagram

Figure 4.15.2: System Sequence Diagram

4.5.6 ERD Model

34
Chapter 5 IMPLEMENTATION
5.1 Introduction
Write how you have done the implementation of your project

5.2 Algorithm
Robo Arm is an articulated arm which can be controlled via Bluetooth, hand
gestures and an Android or Windows application simultaneously. The
algorithm for this project is developed in such a way that first of all, the main
application performs the working of manual mode. In the Manual Mode each
of six servos can be adjusted to desired position and the user can simply move
the arm with Bluetooth by moving the sliders on the mobile app. The sliders
are specified as rotate, clutch, lift, neck, swing and elbow. At the same time,
the user can save positions and play them in future. Second is Motion Mode
that employments the phone's Orientation Sensor and Nearness Sensor. When
they are changed, app sends commands to Arduino. Third, is the color picking
mode in which the arm picks the selected color and is automated. By utilizing
HC-06 Bluetooth 4.0 module Bluetooth highlights can be rapidly included to
Arduino. The manufacturing plant setting is slave mode, but the module can
be set to ace mode so that other Bluetooth 4.0 gadgets can be associated. The
Bluetooth 4.0 module, gets commands from the application on the android
gadget and sends it to the controller.

5.2.1 Algorithm for Application

Step1: Start the Android Application

Step2: Establish Bluetooth connection

Step 3: Select anyone of the three Modes (manual, color picker or

sensor slaved) from the app

Step 4: Control robotic arm using sliders on the app

5.3 Implementation

35
5.3.1 Main Screen of Node Red

Figure 5.3: Node Red Interface

5.3.2 Manual Mode Implementation

Figure 5.4: Node Red Interface

36
 Figure 5.5: User Interface Control

5.3.3 Bluetooth Module Implementation

Figure 5.6: Bluetooth Module Implementation

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5.3.4 Sensor based Implementation

Figure 5.7: Sensor Based Implementation

5.4 Output
5.4.1 Software Implementation:
5.4.1.1 Mode Selection

38
5.4.1.2 Sensor Mode

Figure 5.10: Sensor Mode

5.4.1.3 Color Picker

Figure 5.11.1: Colour Picker

39
 Figure 5.12.2: Colour Picker

5.4.1.4 Manual Mode

Figure 5.13.1: Manual Mode

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Figure 5.14.2: Manual Mode

Figure 5.15.3: Manual Mode

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5.4.2 Final Hardware

Figure 5.16: Components of the six DOF robotic arm kit

Figure 5.17: Robot arm screws and where to place them

42
 Figure 5.18: connecting the shoulder servo to the arm

Figure 5.19: Elbow connected to the arm

Figure 5.20: Inferior wrist servo (left) and superior wrist servo (right)

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 Figure 5.21 Gripper connected to the wrist

Figure 5. 22: Assemble a Robo Arm on a Dashboard

Figure 5.23: FINAL HARDWARE

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Chapter 6 TESTING AND EVALUATION
6.1 Testing
After development and implementation, the testing of software is most
difficult task of the software development process. The testing phase involves
evaluation of all the components of software, making changes and improving
the software if required and after that finding errors and resolving them so that
they may not harm the whole system. Basic objective behind testing phase is
to find out such problems and gap in the developed system that lets the
software to not fulfil the requirements. It is notable that there must be a
planned strategy for testing that must be followed in an accurate manner to
make ensure that the end product is efficient, stable and reliable. And the end
product must be delivered on time. Hence all the timeline must meetup for
successful completion of the project.

6.2 Unit Testing

The testing methodology we have received to test the strength and reliability
of the application is unit testing. The testing methods of unit testing is a white
Box testing method. The most consideration in this test is confirmation of all
modules of the code. Unit testing is basically used to test all the units or
modules of system to ensure the functional and non-functional requirements of
application. It is utilized to test the person units of source code to decide they
are suitable to utilize or not. The most objective is to isolate each portion of
program and test that the individual parts are working correctly or not. This
strategy is additionally time productive and is best suited to our improvement
technique. Following are the test cases and their results.

45
6.3 Test Cases
6.3.1 Test Case 1 (Login)

System: Robo Arm Tested By: Seerat Rana

Objective: To test whether an

application is accessed with the
Test ID: 1
credentials (Email and Password)
entered by registered user.

Version: 1 Test Type: Unit

Steps to Perform:

1. Install and run the application in android phone

2. Go to login section

3. Enter the Email and Password

4. Press the login button

Expected Results: Access to the application and all of its features

Actual Results: Passed

Table 6.3.1: Test Case 1 (Login)

6.3.2 Test Case 2 (Manual Mode)

System: Robo Arm Tested By: Nooria Ijaz

46
 Objective: To test whether the
system can be controlled by the user Test ID: 2
Manually or not.

Version: 1 Test Type: Unit

Steps to Perform:

1. Run the application in android phone

2. Go to Manual Mode

3. Set each of servos to desired positions i.e. Neck, lift

rotate, clutch, swing and elbow

4. Perform the actions

Expected Results: Controlling the system through the Manual Mode

Actual Results: Passed

Table 6.3.2: Test Case 2 (Manual Mode)

6.3.3 Test Case 3 (Sensor Mode)

System: Robo Arm Tested By: Seerat Rana

Objective: To test whether the

system can be controlled by the user Test ID: 3
through Sensor mode or not.

Version: 1 Test Type: Unit

47
 Steps to Perform:

1. Run the application in android phone

2. Go to Sensor Slaved Mode

3. Set each of servos to desired positions i.e. Neck, lift

rotate, clutch, swing and elbow

4. Perform the actions

Expected Results: Automation of the robotic arm through orientation

sensors

Actual Results: Passed

Table 6.3.3: Test Case 3 (Sensor Mode)

6.3.4 Test Case 4 (Colour Picker)

Tested By: Nooria Ijaz, Seerat

System: Robo Arm
Rana

Objective: To test whether the

robotic arm is able to pick the Test ID: 4
coloured objects or not.

Version: 1 Test Type: Unit

48
Steps to Perform:

1. Run the application in android phone

2. Select the Colour picker Mode

3. Select the colour

4. Press the send button

Expected Results: The robotic arm will pick the chosen colour.

Actual Results: Passed

Table 6.3.4: Test Case 4 (Colour Picker)

6.2 Evaluation

49
Chapter 7 CONCLUSION AND FUTURE WORK
7.1 Conclusion
The Robotics technology inquiries about creating robots that measures quality,
adaptability, repetition, fault-tolerance and some other analysts are centered on
totally robotizing a creating handle or an assignment, by giving sensor based
to the robot. In this project robot is developed that works according to human
hand in sensor slaved mode. The robot shows appropriate responses every
time the user moves his hand. The hand gestures to move the robotic arm in
specific directions are left, right, forward, backward. We have used the
technique of picking and placing and this system is used to pick object from
source location and places them at anticipated location. Device can be
controlled in more natural way when the system of hand gesture controlled
robotic is used. The robotic arm follows the commands that are based on the
hand gestures of the user for navigating in the specific directions. In this
project the robotic arm can be controlled via hand gestures instead of using
any other external hardware for the input. This project focuses on
implementing such robotic arm that would be efficient, user friendly and
secure. For this purpose, gesture controlled robotic arm is designed and
implemented. All the three modules of the project (manual, color picker and
app) have been developed successfully. The software implementation is done
through Node Red and Arduino to work the robotic arm properly. This Robo
arm has been made exceptionally carefully and in a point by point way so that
the development of the robot can be controlled precisely. This automated arm
control strategy will be supportive in numerous angles to form human life.

7.2 Future Work

In future, this robotic arm can be utilized for observation reason. Instead of
using Bluetooth to access the robotic the robotic arm from distant area Wi-Fi
can also be used. Edge sensor can be consolidated to the robotic arm in order
to save it from falling from the surface. A few cameras can be introduced in
the system which can be used to record the information and send it to adjacent

50
computer or mobile phone. Along with this, another idea that can be
implemented in the industrial field is the use of robotic arm with conveyor belt
for the picking and placing job in industrialization area.

51
APPENDICES

Appendix A: HDL or Source Code

Flows in Node-Red

52
53
Arduino’s Code:

54
55
56
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