Hand Motion Controlled
Robotic Arm
Hamza Mohammad - 1MS19EI021
Imran Ahmed Khan – 1MS19EI026
Mohammad Ayyan Anees – 1MS19EI035
Ravi Chaturvedi – 1MS19EI042
Abstract
As robotics is one of the emerging technologies this project presents the
design and development of a hand motion controlled robotic arm using flex
sensors and an MPU6050 sensor the system allows for intuitive control of
robotic arm using hand movement enabling more natural and efficient
interaction with the robot.
The flex sensor are used to detect the bending of the fingers whereas the
MPU6050 detects the orientation and movement of the hand these
movements are translated into the movements of the robotic arm. Studies
have shown this technique of controlling the robotic arm has potential to be
used in various application such as medical rehabilitation manufacturing
assembly line processes military and defense or even entertainment
Objectives
1.
To construct a 5 DOF robotic arm.
2.
To make a glove module with flex sensors and accelerometer and gyroscope.
3.
To be able to translate 6 hand movements into robotic arm movements
D eliverables
1. Integration of glove module with 5-DOF robotic arm.
2. Obtaining forward, backward and tilting movement using the accelerometer.
3. Opening and closing of the robotic gripper via flex sensors.
Block Diagram
Circuit Diagram
Glove
Subsystem
Glove Subsystem Circuit Diagram
Flex Sensor
Flex sensor Readings
MPU6050
MPU6050 Readings
Robotic Arm
Subsystem
Gripper
Wrist
Elbow
Shoulder
Base
Initialisation
The initial position of each motor as the glove subsystem is calibrated to zero degrees is as follows
Servo Motor
Variable Name
Initial Position
Servo Motor -1 (Base)
angleZ
𝜃 = 160°
Servo Motor -2 (Shoulder)
angleY
𝜃 = 90°
Servo Motor -3 (Elbow)
angleX
𝜃 = 120°
Servo Motor -4 (Wrist)
mapflex2
𝜃 = 60°
Servo Motor -5 (Gripper)
mapflex1
𝜃 = 30°
Mapping
The map( ) function is a function used to map a value from one range of values to another
range of values.
Syntax : map(value, fromLow, fromHigh, toLow, toHigh)
Servo Motor
Sensor Input
Motor Output
Servo Motor -1 (Base)
0 ≤ Z ≤ 60
0° ≤ 𝜃 ≤ 160°
Servo Motor -2 (Shoulder)
0 ≤ Y ≤ 60
0° ≤ 𝜃 ≤ 90°
Servo Motor -3 (Elbow)
−60 ≤ X ≤ 0
90° ≤ 𝜃 ≤ 180°
Servo Motor -4 (Wrist)
20 < mapflex2 < 30
30 < mapflex2 < 50
𝜃 = 180°
𝜃 = 0°
Servo Motor -5 (Gripper)
mapflex1 > 25
mapflex1 < 25
𝜃 = 180°
𝜃 = 30°
Robotic Arm Subsystem
Thank You