Gesture Report

WIRELESS GESTURE CONTROLLED ROBOT
FINAL YEAR PROJECT REPORT
MUHAMMAD AHKAM KHAN

MUHAMMAD WAQAR
SESSION 2009 - 2013
SUPERVISED BY
MR. ASIF IQBAL
2009-2013
DEPARTMENT OF ELECTRICAL ENGINEERING

NATIONAL UNIVERSITY OF COMPUTER & EMERGING
SCIENCES, PESHWAR CAMPUS
(JUNE 2013)

MUHAMMAD AHKAM KHAN

MUHAMMAD WAQAR
SESSION 2009 2013
SUPERVISED BY
MR. ASIF IQBAL

NATIONAL UNIVERSITY OF COMPUTER & EMERGING
SCIENCES, PESHWAR CAMPUS

MUHAMMAD AHKAM KHAN

MUHAMMAD WAQAR
EE-09-6394
EE-09-6391
SESSION 2009 2013
THE PROJECT REPORT IS PREPARED FOR

NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES
IN PARTIAL FULFILLMENT
FOR
BACHELOR OF ELECTRICAL ENGINEERING BS (EE)

NATIONAL UNIVERSITY OF COMPUTER & EMERGING SCIENCES,
PESHAWAR CAMPUS
(JUNE 2013)
Dedicated to our parents and teachers for their guidance and prayers
and to our friends who helped us out in every possible manner.
iv
FINAL APPROVAL
This is to certify that we have read the project title submitted by Muhammad Ahkam Khan and
Muhammad Waqar as mentioned on the title page. It is our judgment that this project is of
standard to warrant its acceptance by National University of Computer and Emerging SciencesFAST Peshawar, for the degree of BS (EE).
Examination Committee:
1. Project Supervisor:
_____________________
Mr. Asif Iqbal
Lecturer
Department of Electrical Engineering
National University of Computer and Emerging Sciences-FAST
2. FYP Coordinator:
_____________________
Mr. Ahmed Saeed Qazi
Assistant Professor
Department of Electrical Engineering
3. Head of Department of Electrical Engineering:
_____________________
Mr. Ahmed Saeed Qazi
v
STUDENTS DECLARATION
I declare that this project entitled WIRELESS GESTURE CONTROLLED ROBOT, submitted
as requirement for the award of BS (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 person except where due reference is
made in the text.
Muhammad Ahkam Khan
(p09-6394)
SIGNATURE__________________
Muhammad Waqar
(p09-6391)
SIGNATURE__________________
vi
ACKNOWLEDGEMENT
Thanking ALLAH for His Blessings, Mercy & Favors. We would like to acknowledge our
Parents and all Teachers, who supported us both morally and technically, especially our
supervisor Mr. Asif Iqbal who helped us at every step in the making of our project, helped us in
the clarification of our queries related to our project and technical problems.
Also our special thanks to all class fellows and seniors, who helped us in clarification of any
issue as well as implementation and in documentation.
vii
ABSTRACT
Gesture Controlled Robot is a robot 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.
viii
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
ix
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
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. With the development in science and robotics, gesture based recognition came into
life. 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).
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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
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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.
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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.
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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:
Accelerometer
Decoder
MCU
Comparator
RF Receiver
Motor Driver
Encoder
RF Transmitter
Motors
Figure 3-1 Block Diagram
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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
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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
ST
Sets the sensitivity of the accelerometer
Records analog data for Z direction
Records analog data for Y direction
Records analog data for X direction
GND
Connected to ground for biasing
VCC
+3.3 volt is applied
Table 3-1 Pin description for Accelerometer

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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
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PIN NO.
SYMBOL
FUNCTION
Output 1
Output of 1st Comparator
Input 1-
Inverting Input of 1st Comparator
Input1+
Non-Inverting Input of 1st Comparator
VCC
Supply Voltage; 5V (up to 32V)
Input 2+
Non-Inverting Input of 2nd Comparator
Input 2-
Inverting Input of 2nd Comparator
Output 2
Output of 2nd Comparator
Output 3
Output of 3rd Comparator
Input 3-
Inverting Input of 3rd Comparator
10
Input 3+
Non-Inverting Input of 3rd Comparator
11
Ground
Ground (0V)
12
Input 4+
Non-Inverting Input of 4th Comparator
13
Input 4-
Inverting Input of 4th Comparator
14
Output 4
Output of 4th Comparator
Table 3-2 Pin description for LM324
Page | 9
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
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PIN NO.
SYMBOL
FUNCTION
1-8
A0-A7
Address pins
Vss
Ground pin
13-10
D0-D3
Output pins
14
TE
Enables the transmission
15-16
Osc1-Osc2
Rosc of 470K ohm is connected
17
Dout
Output for transmission
18
Vcc
5V supply voltage
Table 3-3 Pin description for PT2262
Page | 11
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.
Figure 3-5 RF Transmitter

PIN
FUNCTION
VCC
5V supply
GND
Ground pin
Data
Input from pin 17 of PT2262 for data transmission
Ant
A wire attached here works as an antenna

Table 3-3 Pin description for RF Tx
Page | 12
Figure 3-6 RF Receiver
PIN
FUNCTION
VCC
5V supply
GND
Ground pin
Data
Output to pin 14 of PT2272 for data transmission
Ant
A wire attached here works as an antenna

Table 4-1 Pin description for RF Rx
Page | 13
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

PIN NO.
SYMBOL
FUNCTION
1-8
A0-A7
Address pins
Vss
Ground pin
13-10
D0-D3
Output pins
14
Din
Input from RF
15-16
Osc1-Osc2
Rosc of 470K ohm is connected
17
VT
Indicates valid transmission
18
Vcc
5V supply voltage
Table 4-2 Pin description for PT2272
Page | 14
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
Page | 15
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
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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
Page | 17
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.
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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
winding provide 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
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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
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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. A push button is
attached to pin 14 of this IC which is the Transmission Enable (TE) pin. The coded data will be
passed onto the RF module only when the button is pressed. 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.
Page | 21
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:
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Fig 4-3 Transmitting Circuit
Page | 23
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:
Page | 24
Fig 4-4 Receiving Circuit
Page | 25
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
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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

Page | 27
Fig 5-4 Move Left
The robot only moves when the accelerometer is moved in a specific direction. The valid
movements are as follows:
DIRECTION
ACCELEROMETER ORIENTATION
Forward
+y
Backward
-y
Right
+x
Left
-x
Stop
Rest
Table 5-1 Accelerometer Orientation
Page | 28
Our finished product can be seen in the images below:
Figure 5-5 Robot-1
Figure5-6 Robot-2
Page | 29
Figure 5-7 Robot Wheel
Figure 5-8 Receiving Circuit
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Figure 5-9 Transmitting Circuit
Figure 5-10 Hand Assembly
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Figure 5-11 Robot with Hand Assembly
Page | 32
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.
Page | 33
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. But these particular motors
are capable of providing support to loads up to 6kgs which is what we wanted.
Page | 34
S. NO
COMPONENT
AMOUNT RATE (PKR)
COST (PKR)
AN7805 Voltage regulator
12
24
LF33CV Voltage regulator
100
100
1uF Capacitor
10
Accelerometer (ADXL335)
2360
2360
Comparator IC (LM324)
15
15
10K Variable Resistor
20
Encoder IC (PT2262)
200
200
470K ohm Resistor
RF Module (Rx/Tx)
1013
1013
10
LED
11
330 ohm Resistor
12
Decoder IC (PT2272)
325
325
13
Microcontroller (AT89C51)
85
85
14
Crystal Oscillator (11.0592 MHz)
10
10
15
33pF Capacitor
16
Motor Driver IC (L293D)
110
110
17
1N4007 Diode
18
6V/4.5A Battery
490
980
19
DC Gear Motors
8000
16000
20
Base
300
Page | 35
21
Vero Board
85
170
22
Wires
10
30
23
Free Wheels
100
200
24
Hand Assembly
150
Total
22120
Table 6-1 Expenses
Page | 36
MICROCONTROLLER CODE
;;;;;;;;;;;;;gesture based robot;;;;;;;;;;;;;;;
org 00h
mov p1,#0ffh
mov p2,#00h
start:mov a,p1
anl a,#0fh
;;;;;;;;;;;;;For Stopping;;;;;;;;;;;;;;;;;;;;;;
cjne a,#0ch,nxt
clr p2.0
clr p2.1
clr p2.2
clr p2.3
;;;;;;;;;;;;;For moving Forward;;;;;;;;;;;;;;;;
nxt:cjne a,#08h,nxt1
setb p2.0
setb p2.2
clr p2.1
clr p2.3
;;;;;;;;;;;;;For Reverse;;;;;;;;;;;;;;;;;;;;;;;
nxt1:cjne a,#04,nxt2
setb p2.3
setb p2.1
clr p2.2
clr p2.0
Page | 37
;;;;;;;;;;;;;For Turning Left;;;;;;;;;;;;;;;;;;

nxt2:cjne a,#0eh,nxt3
setb p2.0
setb p2.3
clr p2.1
clr p2.2
;;;;;;;;;;;;;For Turning Right;;;;;;;;;;;;;;;;;
nxt3:cjne a,#0dh,nxt4
setb p2.1
setb p2.2
clr p2.0
clr p2.3
nxt4:sjmp start
end
Page | 38
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
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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
Page | 40
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>
Page | 41
[10]<http://www.scribd.com/doc/98400320/InTech-Real-Time-Robotic-Hand-Control-UsingHand-Gestures>
[11]< http://en.wikipedia.org/wiki/DC_motor>
[12]<http://electronics.stackexchange.com/questions/18447/what-is-back-emf-counterelectromotive-force>
[13]< http://en.wikipedia.org/wiki/Robots>
[14]<www.alldatasheet.com>
[15]<www.google.com>
[16]<www.wikipedia.com>
Page | 42

Gesture Report

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WIRELESS GESTURE CONTROLLED ROBOT

WIRELESS GESTURE CONTROLLED ROBOT

FINAL YEAR PROJECT REPORT

MUHAMMAD AHKAM KHAN

DEPARTMENT OF ELECTRICAL ENGINEERING

WIRELESS GESTURE CONTROLLED ROBOT

MUHAMMAD AHKAM KHAN

SESSION 2009 2013

DEPARTMENT OF ELECTRICAL ENGINEERING

WIRELESS GESTURE CONTROLLED ROBOT

MUHAMMAD AHKAM KHAN

SESSION 2009 2013

THE PROJECT REPORT IS PREPARED FOR

DEPARTMENT OF ELECTRICAL ENGINEERING

3. Head of Department of Electrical Engineering:

Muhammad Ahkam Khan

CHAPTER 2: GESTURE CONTROLLED ROBOT .......................................... 3

CHAPTER 5: CONCLUSION, LIMITATIONS AND FUTURE WORK ..... 27

Microcontroller Code ............................................................................................ 37

WIRELESS GESTURE CONTROLLED ROBOT

1.2 HUMAN MACHINE INTERACTION

WIRELESS GESTURE CONTROLLED ROBOT

1.4 MOTIVATION FOR PROJECT

1.5 OBJECTIVE OF PROJECT

WIRELESS GESTURE CONTROLLED ROBOT

CHAPTER 2: GESTURE CONTROLLED

WIRELESS GESTURE CONTROLLED ROBOT

WIRELESS GESTURE CONTROLLED ROBOT

CHAPTER 3: LITERATURE REVIEW

Figure 3-1 Block Diagram

WIRELESS GESTURE CONTROLLED ROBOT

WIRELESS GESTURE CONTROLLED ROBOT

3.1 ACCELEROMETER (ADXL335)

Figure 3-2 ADXL335 Accelerometer

Sets the sensitivity of the accelerometer

Records analog data for Z direction

Records analog data for Y direction

Records analog data for X direction

Connected to ground for biasing

+3.3 volt is applied

Table 3-1 Pin description for Accelerometer

WIRELESS GESTURE CONTROLLED ROBOT

3.2 COMPARATOR IC (LM324)

Figure 3-3 LM324 IC

WIRELESS GESTURE CONTROLLED ROBOT

Output of 1st Comparator

Inverting Input of 1st Comparator

Non-Inverting Input of 1st Comparator

Supply Voltage; 5V (up to 32V)

Non-Inverting Input of 2nd Comparator

Inverting Input of 2nd Comparator

Output of 2nd Comparator

Output of 3rd Comparator

Inverting Input of 3rd Comparator

Non-Inverting Input of 3rd Comparator

Non-Inverting Input of 4th Comparator

Inverting Input of 4th Comparator

Output of 4th Comparator

Table 3-2 Pin description for LM324

WIRELESS GESTURE CONTROLLED ROBOT

3.3 ENCODER IC (PT2262)

Figure 3-4 PT2262 IC

WIRELESS GESTURE CONTROLLED ROBOT

Enables the transmission