International Journal of Latest Research in Science and Technology Volume 2,Issue 2 :Page No.98-102 , March - April (2013) http://www.mnkjournals.com/ijlrst.

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ISSN (Online):2278-5299

ROBOTICS ARM CONTROL USING HAPTIC TECHNOLOGY

Vipul J. Gohil1, Dr. S D. Bhagwat2,Amey P. Raut3, Prateek R. Nirmal4,
Assistant Professor, EXTC Department, Mukesh Patel School of Technology & Management, Mumbai 56, India Senior Professor, HOD, Electronics Department, Mukesh Patel School of Technology & Management, Mumbai 56, India 3 Teaching Assistant, EXTC Department,Mukesh Patel School of Technology & Management, Mumbai 56, India 4 Teaching Assistant, EXTC Department, Mukesh Patel School of Technology & Management, Mumbai 56, India
2 1

Abstract - Robots of the current generation have been used in fields isolated from the human society. They suffer major shortcomings because of their limited abilities for manipulation and interaction with humans. In order to represent the robotic technology in the field of human-machine interaction and wireless communication for allows interactivity in real-time with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to help people do their work in an efficient way in their day to day life. The main objective of the project is to design and develop the Robot that is used to move using wireless system by recognizing hand motion that is controlled by haptics technology for virtual environment & human-machine systems capable of haptic interaction.Without risking human life or limb, this research has applications in many areas, including robotassisted surgery, simulation and training, rehabilitation, exploration of hazardous or remote environments, enabling technologies, manufacturing, design, mobile computing, and education.

Keyword - Haptics, human-machine interaction system,robotic arm control, robot, transceiver module.

I.

INTRODUCTION The basic idea is the sensors on the haptic device work as transducers and converts hand motions into electrical signals. These hand movements can be replicated using a robotic arm. Our research is devoted to developing the principles and tools needed to realize advanced robotic and human-machine systems capable of haptic interaction. The project is divided into two modules namely, Haptics glove (Transmitter) & Robot side (Receiver). Haptics Glove Side: This device fits over the user's entire hand like an exoskeleton has potentiometers on finger, wrist & picks up change in resistance with hand movement. Robotic Arm: A robotic manipulator is a device capable of moving in different directions (base, shoulders, elbow, yaw, pitch, roll directions) elative to base and controlled by Haptics, Its base is actuated by a D.C motor mounted beneath it. The degrees of freedom, or DOF, are a very important term to understand. Each degree of freedom is a joint on the arm, a place where it can bend or rotate or translate. I. PRPOSED SYSTEM DIAGRAM A. Transmitter: -

Robotics is a special engineering science which deals with designing, modeling, controlling and robots' utilization. Nowadays robots accompany people in everyday life and take over their daily routine procedures. As the research progressed, robots were recognized not only as simple action performer but as a machine that have diverse and variety of purposes and usages. The paper focuses on design and implement a robotic arm and control it using a human arm by means of haptics technology.[1] Haptics is the science of applying touch sensation and control for interaction with virtual or physical applications. Haptics is one of the growing areas in humancomputer collaboration which deals with sensory interaction with computers. The word haptic is derived from the Greek word haptikos which means pertaining to the sense of touch [2]. Haptic is used in engineering systems to create virtual environment. It is a tactile feedback technology which takes advantage of sense of touch by applying motions, vibrations or forces to the user. Haptics can be divided into three areas: A. Human haptics - the study of human sensing and its control through touch. B. Machine haptics - the design, construction, and the use of machines to replace or augment human touch. C. Computer haptics - algorithms and software associated with generating the touch and feel of virtual objects.[3]

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wireless data transmission. The communication protocol is self controlled and completely transparent to user interface.

Figure 3: - Circuit Diagram of Transmitter Circuit Working: 1. Haptics sensors A sensor (also called detector) is a device that measures a physical quantity and converts it into equivalent electrical signal.. The user in order to move the robot should make a hand movement. This different movement is sensed by potentiometer & accelerometer attached to haptics gloves. Potentiometer is used in haptic suit along with ADC for position feedback of joints. It gives the feedback in the form of voltage. Accelerometer is connected to on other glove for position feedback of hand movement either left or right. The output of this sensors are in analog form, therefore they are connected to analog port of microcontroller AVR8535(pin 33, 34, 35, 36) 2. Microcontroller-AVR 8535 The AT90S8535 is a low-power CMOS 8-bit microcontroller based on the AVR RISC architecture. It has inbuilt ADC. Hence electrical signal receive at PA4 to PA7 pins of ADC port are converted into equivalent digital signal.The microcontroller processes it and generates code using programming for this digital data. According to programming at a time any one data (pin-14,15) is fed to RF transceiver cc2500 (pin Din, Dout) for modulation purpose. 3. RF transceiver modules The CC2500 is a low cost true single chip 2.4GHz transceiver designed for very low power wireless applications.[5] Here it acts as transmitter module. Its carrier freq. is 2.4GHz.Hence data received at Din pins of cc2500 from TXD (PD1) pins of microcontroller is modulated by ASK technique for long distance wireless transmission. The transmitting range of the transmitter is 25 to 30m (radius) without antenna. For transmission over this distance an antenna should be connected. Hence this modulated data is send via antenna to receiver (robotic arm) ST3654-CC2500 Zig-Bee Based Trans/Receiver Module: ST3654 Serial Interface IC supports any RF based modules/trans-receiver which is based on Texas Instruments Chipcon ICs like CC1100/CC1101(433 MHz) and CC2500(2.4 GHz). It provides a simple UART interface for transmission and reception of serial data at various baud rates. It can be used for applications that need two way

Figure 4: - Zig-bee Trans/Receiver Module

RF Module and ST3654 are working at 3V level so a 3V regulator is required as shown. Operating RF module at 5V will permanently damage it. The UART interface can be interfaced with either 3V or 5V logic level circuits since it has a 1K resistor in series to RXD which will drop down the 5V level of serial data. B. Receiver: -

Figure 5: - Circuit Diagram of Receiver Circuit Working: 1. Antenna: The receiver antenna picks up the serial data sent by the transmitter. Antenna is connected to one of the pins of the receiver. And this data is further processed through the receiver module. 2. RF transceiver module-CC2500: CC2500 acts as a receiver module. It demodulates received data. This data is then send serially to microcontroller (pin 14) on PD0 (RXD) pin. 3. Microcontroller-AVR 8535: Then according to look up table, micro-controller gives command (pin-1 t0 6) through PB0 to PB5 of port B to the motor driver IC. Now driver IC operates motor connected to the arm. 4. Motor Drivers:

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The microcontroller output is not sufficient to drive the DC motors, so current drivers are required for motor rotation. The L293D is a quad, high-current, half-H driver designed to provide bidirectional drive currents of up to 600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The L293D consists of four drivers. Pin IN1 through IN4 and OUT1 through OUT4 are input and output pins, respectively, of driver 1 through driver 4. Drivers 1 and 2, and drivers 3 and 4 are enabled by enable pin 1 (EN1) and pin 9 (EN2), respectively. When enable input EN1 (pin 1) is high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin 9) enables drivers 3 and 4. The L293 is an integrated circuit motor driver that can be used for simultaneous, bidirectional control of two small motors as shown fig belo output current of 1.2A per channel. Moreover for protection of circuit from back EMF output diodes are included within the IC. The output supply (VCC2) has a wide range from 4.5V to 36V, which has made L293D a best choice for DC motor driver. As seen in the circuit, three pins are needed for interfacing a DC motor (A, B, Enable). As we want the o/p to be enabled completely so we have connected Enable to VCC and only 2 pins are needed from controller to make the motor work.

These solid state circuits provide power and ground connections to the motor, as did the relay circuits. The high side drivers need to be current "sources" which is what PNP transistors and P-channel FETs are good at. The low side drivers need to be current "sinks" which is what NPN transistors and N-channel FETs are good at.

Fig 7 H-Bridge circuit

A 1 0 1 0

B 0 1 1 0

C 0 1 0 1

D 1 0 0 1

Description Forward Reverse Brake Brake

Table 2 Function Table of H-Bridge. 5. Gear Motor: Geared the motors that operate using gears are used because they are bidirectional. Viz with these motors you can move your robot in both directions (forward and backward) .here 4 motors (12v,30rpm) are used to move robotic arm as well as base in different direction. According to the program in the microcontroller, the robot starts moving. 6. Robotic Arm: Figure 6: - Circuit Diagram of Motor Driver L293 We have implemented mechanical arm or robotic arm in our robot. The arm is able to pick any light weight item. As well as arm will do other movement given in table below as command given by microcontroller programming. We can operate arm from user haptics glove. Like when we move wrist up/down and arm will move up and down respectively and so on. These functions will be done using microcontroller, motor driver IC and PMDC motor. II. MECHANICAL ASSEMBLY Table 1 Truth Table of Motor Driver H-Bridge: In order to control the motor in both forward and reverse with a microcontroller, will need an H-Bridge. The L 293 has 2 H-Bridges, can provide about 1 amp to each and occasional peak loads to 2 amps. Motors typically controlled with this controller are near the size of a 35 mm film plastic canister. There are two different mechanical assemblies on which the device moves. There is an base assembly to move the device back and forth i.e. to move the device in forward, backward, right & left. There is another one axis assembly to open and close the jaws of the object lifter as well as to move the jaws up and down to lift up the object.

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Hand will move right Hand will stop Wrist will move upwards Wrist will move downwards Opening the Hand Closing the Hand

Robot will move right Robot will stop Robotic arm will move upwards Robotic arm will move downwards Opening the Gripper Closing the Gripper

Table 4 Operation Table IV. ADVANTAGES & LIMITATIONS Advantages: It allows interactivity in real-time with virtual objects Machines don't get tired. They don't close their eyes. They don't hide under trees when it rains and they don't talk to their buddies. A human's attention to detail on guard duty drops dramatically in the first 30 minutes. Machines know no fear. Can be applied in remote rural areas so as to carry out operations. Can be used in military areas where highly skilled doctors may not be present. In application like bomb disposal the human life is not at risk. It allows interactivity in real-time with virtual objects. Less cutting of skin due to use of advance technology camera and tools. Precise control of tools during operation. Reduction of no. of peoples needed in operation room. Be unaffected by anger, revenge, hunger, fear, fatigue, or stress. Limitations: Robots are not as suitable for making complicated decisions. Debugging issues of these are complicated since they involve real-time data analysis. Links in telemedicine must have 0% fault rates for extended periods of time. The precision of touch requires a lot of advance design. The haptic interfaces are basically not portable and they have a limited workspace [12]. Auxiliary controls are required to move the workspace of the device to a new location. Full working of the robot is dependent on the range of CC2500 RF transceiver low power module. i.e. up to 100 meter. V. CONCLUSION The synopsis proposes the system robotic arm based on real-world haptics. The primary goals of haptic guidance is to facilitate the learning of complex human motion skills by

Figure 8: - Robot Vehicle and Haptics Glove III. RESULT Hardware of this project was successfully executed under due guidance of our in-charge and showed successful results. The results obtained from working of this project have shown that the project performance is quite reliable and efficient. Model Degrees of Freedom Max Load Capacity Drive System Mounting Type Controller Table 3 Result Table The robot movement is checked and controlled by a haptics glove wear by user that transmits data to the transceiver module attached to the robot. We operated Robotics arm from user haptics glove and action given below: HAND ACTION hand will move in forward direction Hand will move in backward direction Hand will move left ROBOT ACTION Robot will move in forward direction Robot will move in backward direction Robot will move left Normal 1 1.2kg PMDC motor Robotic cart AVR-8535.

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providing haptic cues that are helpful to induce desired movements. The proposed system is utilized to recognize the human motion..Large potential for applications in critical fields as well as for leisurely pleasures. [6]. Haptic devices must be smaller so that they are lighter, simpler and easier to use.Haptic technology allows interactivity in real-time with virtual objects. VI.FUTURE SCOPE Research is going on to use brain signals to control robotic arm. This, if achieved will be of great help to physically handicapped. Currently under research is clothing retail industry which will help the users to feel texture of the clothes on the internet. the the the the

REFERENCES
[1] Xinxing Tang, Hironao Yamada, Dingxuan Zhao, Tao Ni. Haptic Interaction in Tele-operation Control System of Construction Robot Based on Virtual Reality, IEEE, 2009. Nisha Sharma, Swati Uppal, Sorabh Gupta. Technology Based On Touch: Haptics Technology,IEEE, 2011. Patrick Roler, Timothy,A NOVEL HAPTIC INTERFACE FOR FREE LOCOMOTION IN EXTENDED RANGE TELEPRESENCE SCENARIOS,Germany,IJERA-2008 Rama Krishna, G. Sowmya Bala, A.S.C.S. Sastry, B. Bhanu Prakash Sarma, Gokul Sai AllaRobotics Arm control using sensors International Journal of Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com, May-Jun 2012. Kenichiro NAGASAKA, Atsushi MIYAMOTO, Motion Control of a Virtual Humanoid that can Perform Real Physical Interactions with a Human, IEEE, 2008. Dzmitry Tsetserukou ,Naoki Kawakami and Susumu- iSoRA: Humanoid Robot Arm for Intelligent Haptic Interaction with the Environment ASME Paper,2009

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