HAND GESTURE CONTROLLED ROBOT

A Project submitted
to
CHHATTISGARH SWAMI VIVEKANANDA TECHNICAL UNIVERSITY
BHILAI(C.G), INDIA

For Award of Degree

of
ABHISHEK DUBEY
AMIT KUMAR
ASHISH RAO GIREPUNJE
DIGVIJAY ROY
V.N.V. ADITYA SHARMA

Under the guidance of

Prof. MITHILESH SINGH
Asso. Professor

Department of Electronics & Telecommunication Engineering

Bachelor of Engineering

Shri Shankaracharya Institute of Professional

Management & Technology, Raipur, C.G.

Declaration of the candidate

We the undersigned solemnly declare that the report of the thesis work entitled HAND GESTURE
CONTROLLED ROBOT is based on my own work carried out during the course of my study under
the supervision of Asso. Prof. MITHILESH SINGH.
We assert that the statement made and conclusions drawn are an outcome of the project work we
further declare that to the best of my knowledge and belief that the report does not contain any part of
any work which has been submitted for the award of any other degree/ diploma/certificate in this
University/Any deemed university of India or any other country.

Signature of candidates
ABHISHEK DUBEY
AMIT KUMAR

(3332810122)
(3332810125)

ASHISH RAO GIREPUNJE(3332810121)

DIGVIJAY ROY

(3332810129)

V.N.V. ADITYA SHARMA (3332810127)

CERTIFICATE BY THE SUPERVISOR

This is to certify that the report of the thesis entitled HAND GESTURE CONTROLLED ROBOT is
a record of research work carried out by students
ABHISHEK DUBEY
AMIT KUMAR

(3332810122)
(3332810125)

ASHISH RAO GIREPUNJE(3332810121)

DIGVIJAY ROY

(3332810129)

V.N.V. ADITYA SHARMA (3332810127)

under my guidance and supervision for the award of degree in Bachelor of Electronics and
Telecommunication Engineering of Chhattisgarh Swami Vivekanand Technical University Bhilai
(C.G),India
To the best of my knowledge and belief the thesis
i) Embodied the work of candidate himself
ii) Has duly been completed
iii) Fulfills the requirement of the ordinance relating to the BE degree of the university and
iv) is up to the desired standard both in respect of contents and language for being referred to the
examiners

Project Coordinator Signature of Supervisor

Mr. PRADEEP JAISAL

Asso. Prof. Mr. MITHILESH SINGH

ET&T

Forwarded to Chhattisgarh Swami Vivekananda Technical University

Pankaj Kumar Mishra

H.O.D ET&T Department
3

CERTIFICATE BY THE EXAMINERS

The thesis HAND GESTURE CONTROLLED ROBOT submitted by

ABHISHEK DUBEY
AMIT KUMAR

(3332810122)
(3332810125)

ASHISH RAO GIREPUNJE(3332810121)

DIGVIJAY ROY

(3332810129)

V.N.V. ADITYA SHARMA (3332810127)

has been examined by the undersigned as a part of the examination and hereby recommended for the
award of the degree of Bachelor of Engineering in the faculty of Electronics and Telecommunication
of Chhattisgarh Swami Vivekananda Technical University , Bhilai (C.G), India

Signature of the Internal ExaminerSignature of External Examiner

Name :

Name :

Designation:

Designation:

Department:

Department:

AKNOWLEDGEMENT

We have a great pleasure in presenting this project report on HAND GESTURE

CONTROLLED ROBOT & to express our deep regard to towards those who have offered
their valuable time & guidance in my hour of need.I am indebted to our inspiring guide Mr.
Mithilesh Singh. and our H.O.D. Mr. Pankaj Kumar Mishra. and B.E coordinator Asst. Prof.
PradeepJaisal who has extended valuable guidelines, help and constant encouragement
through the various different stages for the onslaught of the project.I have great pleasure in
offering our sincere thanks to our honorable Principal Mr. NishantTripathi. Last but not least,
we would like to thanks all the direct and indirect help provided by friends, parents and the
staff of this college for successful completion of this project

ABHISHEK DUBEY
AMIT KUMAR

(3332810122)
(3332810125)

ASHISH RAO GIREPUNJE(3332810121)

DIGVIJAY ROY

(3332810129)

V.N.V. ADITYA SHARMA (3332810127)

ABSTRACT
Now a days robots are controlled by remote or cellphones or by direct wired connection. If
we thinking about cost and required hardwares all this things increases the complexity,
especially for low level application. Now the robot that we have designed is different from
above one. It doesnt required any type of remote or any communication module. it is self
activated robot, which drive itself according to position of user who stands in front of it. It
does what user desires to do. it makes copy of its all movement of the user standing in front
of it. Hardware required is very small, and hence low cost and small in size.

LIST OF CONTENTS
Chapter No.
1.

Name of Topic

Page No.

INTRODUCTION

4 - 6.

2.

LITERATURE REVIEW

3.

PROBLEM IDENTIFICATION

4.

DESIGN AND CONTROL SYSTEM 12 -18.

5.

HARDWARE AND DESCRIPTION

6.

METHODOLOGY
7.

8.

RESULT AND DISCUSSION

10 - 11.

19 48.
49 61.
62 - 64.

CONCLUSION AND SCOPE

OF FUTURE WORK

9.

7 - 9.

REFERENCE

65 66.
67 68.

LIST OF FIGURE
Serial No.

Name of Figure

Page No.

1.

PIN DIAGRAM OF 8051

21

2.

BLOCK DIAGRAM OF 8051

22

3.

TRANSMITTER AND RECEIVER

CIRCUIT DIAGRAM

23

4.

RF TRANSMITTER MODULE

25

5.

RF RECEIVER MODULE

25

6.

PIN ASSIGNMENT OF HT12D

31

7.

PIN CONFIGURATION OF
COMPARATOR LM339

8.

BLOCK DIAGRAM OF
ACCELEROMETER

9.

38

PIN COFIGURATION OF
ACCELEROMETER

10.

35

38

COMPONENT PLACING DIAGRAM OF

TRANSMITTER

11.

56

COMPONENT PLACING DIAGRAM OF

RECEIVER

12.

56

COMPONENT ROUTING OF
TRANMITTER

13.

57

COMPONENT ROUTING OF
RECEIVER

58
8

LIST OF TABLES
Serial no.
1.

Name of Table
ELECTRICAL CHARACTERISTICS OF

Page No.
25

TRANSMITTER
2.

ELECTRICAL CHARACTERISTICS OF

26

RECEIVER
3.

PARAMETER OF HT12E

29

4.

PIN DESCRIPTION OF HT12E

29

5.

SELECTION TABLE OF HT12E

31

6.

PIN DESCRIPTION

32

7.

ELECTRICAL CHARACTERISTICS OF

33

HT12D
8.

ELECTRICAL CHARECTERISTICS OF

35

COMPARATOR
9.

PIN DESCRIPTION OF COMPARATOR

39

10.

ALTERNATE FUNCTIONS OF PORT1

44

11.

ALTERNATE FUNCTIONS OF PORT3

45

12.

PIN CONFIGURATION OF LCD DISPLAY

50

Chapter 1
INTRODUCTION

10

1. INTRODUCTION
Overview

1.1

During the last few decades we have seen the emergence of robots capable of
performing complex tasks in the human environment. This project makes us advance in the
path of making robots in such a way that makes them according to the gestures of the
instructor.
The goal of this project is to implement a robot able to act according to the hand
gestures of the instructor and to sketch the main challenges and future directions. Designing
such kind of robot one needs to consider the following aspects

Understanding the gesture recognition technology and implementing it in a robot.

Designing a proper mechanism.

Selection of actuators and sensors.

Developing an embedded system to properly manipulate all the actuators.

This robot shall be capable to work on receiving instructions wirelessly. Developing such
kind of robots needs:

Proper mechanical arrangement.

Actuators (motors) of desired speed and power.

Power supply.

Appropriate control system with interface for manual instruction feed.

Programming and logics.

11

1.2

The 8051 Microcontroller

The 8051 microcontroller was introduced by Intel Corporation in 1981. It is an 8 bit

microcontroller. This microcontroller has 128 bytes of RAM, 4K bytes of on-chip ROM, two
timers, one serial port, and four ports (each 8 bit wide).
The 8051 became widely popular after Intel allowed other manufacturers to make and
market any flavors of the 8051 they please with the condition that they remain codecompatible with 8051. In this project the 8051 microcontroller is being used due to its wide
availability and code compatibility with different variants provided by more than half a dozen
manufacturers.

1.3

About ExpressPCB
ExpressPCB is a very easy to use Windows application for laying out printed circuit

boards.TheCAD software includes ExpressSCH for drawing schematics and ExpressPCB for
designing circuit boards. ExpressPCB can be used to design double-sided boards (with two
copper layers) and four-layer boards (with four copper layers).

1.4

About Keil
Keil development tools for the 8051 microcontroller family support every level of

developer from the professional applications engineer to the student just learning about
embedded software development. The industry-standard Keil C Compilers, Macro
Assemblers, Debuggers, Real-time Kernels, and Single-board Computers support ALL 8051compatible derivatives.
It supports programming in assembly language as well as C language. In this project
C language is being used for coding the algorithm.

1.5

Organization of the thesis

1. Introduction.
2. Literature Review.
3. Problem Identification.
4. Design and Control System.
5. Methodology.
6. Result and Discussion.
7. Conclusion and Scope of Further Work.

12

Chapter 2

LITERATURE REVIEW

13

2.LITERATURE REVIEW
Boehme etal. [1] , Boehme developed a system in which the robot reliably detects gestural
cues given by the user. His work focuses on improving the robustness of the interface by rst
identifying potential users through a multiple queue approach.
Hasan [17] applied multivariate Gaussian distribution to recognize hand gestures using
nongeometric features. The input hand image is segmented using two different methods [18];
skin color based segmentation by applying HSV color model and clustering based
thresholding techniques [18]. Some operations are performed to capture the shape of the hand
to extract hand feature; the modified Direction Analysis Algorithm are adopted to find a
relationship between statistical parameters (variance and covariance) [17] from the data, and
used to compute object (hand) slope and trend [17] by finding the direction of the hand
gesture [17].
The robots have an inherently unstable structure and whose modeling and control can be
carried out by different techniques. The aim of this study is to present a critical literature
review of the main types of biped robots developed until the present date, including Brazil.
According to their particular features presented in the literature, robots will be treated
concerning dimensions, degrees of freedom or system of control. Advantages and
disadvantages of moving robots when compared to leg robots will be presented. This
comparison will also be done taking into account other types of robots. The evolution of
biped robots also will be presented including those ones for entertainment purposes.
Mathematical modeling for determination of equation of motion, Zero Moment Point, and
application of control theory in order to allow a response for a standard input is also showed.

Kulkarni [31] recognize static posture of American Sign Language using neural
networks algorithm. The input image are converted into HSV color model,
resized into 80x64 and some image preprocessing operations are applied to
segment the hand [31]from a uniform background [31], features are extracted
using histogram technique and Hough algorithm. Feed forward Neural
Networks with three layers are used for gesture classification. 5 samples are
used for training and 3samples for testing, the system achieved 92.78%
recognition rate using MATLAB language.[31].

14

Chapter 3
PROBLEM IDENTIFICATION

15

3. PROBLEM IDENTIFICATION
Developing a robot with motion according to the hand gestures needs a systematic approach
to be followed. The design of the body or the framework on which the actuators and the electronic
control circuit can be mounted must be done properly.
The next factor is the selection of actuators. Actuators are nothing but motors which provide motion to
the robot body as per the signal given to them. In this project normal 100 rpm dc motors are used as
their rotation is highly accurate.
Another challenge is designing control circuit with minimum power consumption. The control
circuit must be able to receive instructions from the transmitter held by the instructor so that the robot
can be controlled. To do so microcontroller is required. Hence microcontroller is to be used for
controlling the robot. In this project 8051 microcontroller is being used.
After completing the hardware programming the robot for its motion in such a way that the
actuators work simultaneously and the robots balance is maintained.

16

Chapter 4
DESIGN AND CONTROL SYSTEM

17

4. DESIGN AND CONTROL SYSTEM

4.1 Mechanical design
The basic requirement of any robot is its framework or its body on which its complete control
circuitry and actuators are to be mounted. In our design our main aim is to move the device according
to the hand gestures given by the instructor. So we designed a simple robot which can move forward,
backward, turn right and left according to the gestures.
The design of the robot is shown in the figure below:

4.2 Control System

Control system for this robot works using microcontroller. The circuit schematic and
Printed Circuit Board (PCB) is designed using ExpressSCH and ExpressPCB software. The
control will be manually done using serial interfacing with standard IBM PC.
The microcontroller used is 8051 microcontroller. The schematic circuit is designed using
ExpressSCH and the PCB layout is designed using the ExpresssPCB software. The control
circuit consists of 8051 microcontroller(AT89S52),Decoder IC(HT12D),Receiver module,
Motor driver IC(L293D) on a single Printed Circuit Board(PCB).
The control system receives data sent from the transmitter section wear by the
instructor
We wear a transmitter module in our hand.
The transmitting device includes:
1. Accelerometer module(ADXL335) which transmits command to the comparator.
2. A comparator IC(LM339) for comparing voltage required for particular axes with
reference voltage.
3. An encoder IC(HT12E) which is use to encode the four bit data which transmits to the
RF Transmitter module.
4. RF Transmitter module transfers data to the receiver with the help of antenna.
The receiving device includes:
1. RF Receiver module receives the encoded data with the help of antenna.
18

2. With the help of decoder IC(HT12D) data is decoded.

3. The decoded data is then processed by our microcontroller (AT89s52).
4. According to the data, microcontroller sends command to the motor driver
IC(L293D) to control the motors.
When the user wearing the transmitter waves his hand or performs some gestures the
robot starts moving.
When he puts his hand showing his palm towards the robot then the robot starts
moving backwards until stopped and when does exactly opposite the robot moves
forward.
When the user turns his hand 90 degrees measured from the floor with his thumb
pointing the roof then the robot turns right and starts moving until stopped and when
does exactly opposite then the robot moves left.
4.3
Pin
diagram
of

Fig 4.3: Pin diagram of 8051 microcontroller

19

8051

Microcontroller

4.4 Block Diagram of 8051 microcontroller

Fig 4.4 Block Diagram of 8051 microcontroller.

4.4Transmitter Circuit diagram

Fig. 4.5 Transmitter Circuit diagram

4.5 Receiver Circuit Diagram

20

Fig. 4.6 Receiver Circuit Diagram

Chapter 5
HARDWARE AND DESCRIPTION

21

5.HARDWARE AND DESCRIPTION

5.1. RF TRANSMITTER AND RECEIVER.

5.1.1GENERAL DESCRIPION:The QBT37-XXX and QBR37-XXX are miniature narrow band transmitter and
receiver UHF radio modules, which enable the implementation of a simple telemetry link at
data rates up to 20Kbits/s.
Available for operation between 433.075 and 434.725 MHz in 50KHz steps these modules
give the possibility of 34 different frequency channels and are able to transmit at distances of
up to 400m.
The QBT37-XXX and QBR37-XXX modules will suit one-to-one and multi-node wireless
links in applications including building and car security, remote industrial process monitoring
and computer networking. Because of their small size and low power requirements, both
modules are ideal for use in portable battery powered wireless applications.

22

FIGURE 5.1(a)RF TRANSMITTER

MODULE

FIGURE 5.1(b) RF
RECEIVER MODULE

23

TABLE 5.1(a) ELECTRICAL CHARACTERSTICS OF TRANSMITTER

24

TABLE 5.1(b) ELECTRICAL CHARACTERSTICS OF RECEIVER

25

5.1.2.FEATURES

Miniature Module.

FM Narrow Band Modulation.

Optimal Range 400m.

Operates Within 433 Licence Free Band.

5V operation.

3.5mA current drain.

No External Parts are required.

Receiver Frequency: 433.92 MHZ.

Typical sensitivity: -105dBm.

IF Frequency: 1MHz.

433.92 MHz Frequency.

Low Cost.

1.5-12V operation.

11mA current consumption at 3V.Small size.

4 dBm output power at 3V.

34 Channels Available.
Single Supply Voltage.

26

5.2. ENCODER (HT12E)

5.2.1. General Description
The 212 encoders are a series of CMOS LSIs forremote control system applications. They are
capable of encoding information which consists of N address bits and 12N data bits. Each
address/data input can be set to one of the two logic states. The programmed addresses/data
are transmitted together with the header bits via an RF or an infrared transmission medium
upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E or a
DATA trigger on the HT12A further enhances the application flexibility of the 212 series of
encoders.
The HT12A additionally provides a 38kHz carrier for infrared systems.
5.2.2. Features

Operating voltage : 2.4V~12V

Low power and high noise immunity CMOS technology.

Low standby current: 0.1A (typ.) at VDD=5V.

HT12A with a 38kHz carrier for infrared transmission medium.

Minimum transmission word:Four words

Built-in oscillator needs only 5% resistor.

Data code has positive polarity.

Minimal external components.

HT12A/E: 18-pin DIP/20-pin SOP package.

27

TABLE 5.2(a) PARAMETERS OF HT12E

TABLE 5.2(b) PIN DESCRIPTION OF HT12E

28

5.3 DECODER (HT12D)

5.3.1.General Description
The 212 decoders are a series of CMOS LSIs for remote control system applications. They
are paired with Holteks 212 series of decoders (refer to the encoder/decoder cross reference
table). For proper operation, a pair of encoder/decoder with the same number of addresses
and data format should be chosen.
The decoders receive serial addresses and data from a programmed 212 series of encoders
that are transmitted by a carrier using an RF or an IR transmission medium. They compare
the serial input data three times continuously with their local addresses. If no error or
unmatched codes are found, the input data codes are decoded and then transferred to the
output pins. The VT pin also goes high to indicate a valid transmission.
The 212 series of decoders are capable of decoding informations that consist of N bits of
address and 12N bits of data. Of this series, the HT12D is arranged to provide 8 address bits
and 4 data bits, and HT12F is used to decode 12 bits of address information.
5.3.2.Features

Operating voltage: 2.4V~12V.

Low power and high noise immunity CMOS technology.

Low standby current.

Capable of decoding 12 bits of information.

Binary address setting.

Received codes are checked 3 times.

Address/Data number combination.

HT12D: 8 address bits and 4 data bits.

Built-in oscillator needs only 5% resistor.

Valid transmission indicator.

Easy interface with an RF or an infrared transmission medium

Minimal external components.

Pair with Holteks 212 series of encoders.

18-pin DIP, 20-pin SOP package.

29

TABLE 5.3(a) SELECTION TABLE OF HT12D

Table 5.2.2.1 Selection table of HT12D

FIGURE 5.3(a) PIN ASSIGNMENT OF HT12D

30

TABLE 5.3(b) PIN DESCRIPTION

31

TABLE 5.3(c) ELECTRICAL CHARACTERSTICS OF THE HT12D

32

5.4.COMPARATOR
5.4.1GENERAL DESCRIPTION
Comparators are designed for use in level detection, lowlevel sensing and memory
applications in consumer, automotive, and industrial electronic applications.
5.4.2.Features
Single or Split Supply Operation.
Low Input Bias Current: 25 nA (Typ).
Low Input Offset Current.
Low Input Offset Voltage.
Input Common Mode Voltage Range to GND.
Low Output Saturation Voltage: 130 mV (Typ) at 4.0 mA.
TTL and CMOS Compatible.
ESD Clamps on the Inputs Increase Reliability without affecting device operation.
NCV Prefix for Automotive and Other Applications Requiring Site and control Changes.

33

FIGURE 5.4(a) PIN CONFIGURATION OF COMPARATOR LM339

5.4.3 ELECTRICAL CHARACTERSTICS

TABLE 5.4(a) ElectricalCharacterstics of Comparator

34

5.5.ACCELEROMETER
5.5.1GENERAL DESCRIPTION
We have applied sensor, accelerometer module, which sense the axis of direction of the
motion of the hand, hence the robot starts moving with respect to the motion of the hand.
By measuring the amount of static acceleration due to gravity, you can find out the angle the
device is tilted at with respect to the earth. By sensing the amount of dynamic acceleration,
you can analyse the way the device is moving. At first, measuring tilt and acceleration doesn't
seem all that exciting. However, engineers have come up with many ways to make really
useful products with them.
An accelerometer can help your project understand its surroundings better. Is it
driving uphill? Is it going to fall over when it takes another step? Is it flying horizontally? A
good programmer can write code to answer all of these questions using the data provided by
an accelerometer.
There are several different principles upon which an analog accelerometer can be built. Two
very common types utilize capacitive sensing and the piezoelectric effect to sense the
displacement of the proof mass proportional to the applied acceleration.
Capacitive Accelerometer
Accelerometers that implement capacitive sensing output a voltage dependent on
the distance between two planar surfaces. One or both of these plates are charged with an
electrical current. Changing the gap between the plates changes the electrical capacity of the
system, which can be measured as a voltage output. This method of sensing is known for its
high accuracy and stability. Capacitive accelerometers are also less prone to noise and
variation with temperature, typically dissipate less power, and can have larger bandwidths
due to internal feedback circuitry. (Elwenspoek 1993).
Piezoelectric Accelerometer
Piezoelectric sensing of acceleration is natural, as acceleration is directly
proportional to force. When certain types of crystal are compressed, charges of opposite

35

polarity accumulate on opposite sides of the crystal. This is known as the piezoelectric effect.
In a piezoelectric accelerometer, charge accumulates on the crystal and is translated and
amplified into either an output current or voltage.
Piezoelectric accelerometers only respond to AC phenomenon such as vibration or
shock. They have a wide dynamic range, but can be expensive depending on their quality
(Doscher 2005).
5.5.2ADXL335
The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal
conditioned voltage outputs. The product measures acceleration with a minimum fullscale range of 3 g. It can measure the static acceleration of gravity in tiltsensing applications, as well as dynamic Acceleration resulting from motion, shock, or
vibration.
They are typically used in one of three modes:

As an inertial measurement of velocity and position.

As a sensor of inclination, tilt, or orientation in 2 or 3 dimensions as referenced from

the acceleration of gravity (1 g = 9.8m/s2).

As a vibration or impact (shock) sensor. Most accelerometers are Micro-ElectroMechanical Sensors (MEMS). They are typically used in one of three modes:

As an inertial measurement of velocity and position.

As a sensor of inclination, tilt, or orientation in 2 or 3 dimensions as referenced from

the acceleration of gravity (1 g = 9.8m/s2).

As a vibration or impact (shock) sensor. Most accelerometers are Micro-ElectroMechanical Sensors (MEMS).

36

FIGURE 5.5(a) FUNCTIONAL BLOCK DIAGRAM OF ACCELEROMETER

5.4.3.PIN CONFIGURATION

FIGURE 5.5(b) PIN CONFIGURATION OF ACCELEROMETER

37

TABLE 5.4.3.1 PIN CONFIGURATION OF ACCELEROMETER

TABLE 5.5(a) PIN DESCRIPTION

5.5.4.THEORY OF OPERATION
The ADXL335 contains

a poly-silicon surface-micro

machined sensor and signal

conditioning circuitry to implement an open-loop acceleration measurement architecture. The

output signals are analog voltages that are proportional to acceleration.
The accelerometer can measure the static acceleration of gravity in tilt-sensing applications
as well as dynamic acceleration resulting from motion, shock, or vibration. The sensor is a
poly-silicon surface-micro machined structure built on top of a silicon wafer. Poly-silicon
springs suspend the structure over the surface of the wafer and provide a resistance against
acceleration forces. Deflection of the structure is measured using a differential capacitor that
consists of independent fixed plates and plates attached to the moving mass.

38

If you have two microstructures next to each other, they have a certain capacitance between
them. If an accelerative force moves one of the structures, then the capacitance will change.
Add some circuitry to convert from capacitance to voltage, and you will get an accelerometer.
There are even more methods, including use of the piezoresistive effect, hot air bubbles, and
light.
The fixed plates are driven By 180 out-of-phase square waves. Acceleration
deflects the moving mass and unbalances the differential capacitor resulting in a sensor
output whose amplitude is proportional to acceleration. Phase-sensitive demodulation
techniques are then used to determine the magnitude and direction of the acceleration.
The demodulator output is amplified and brought off-chip through a 32 k resistor.
The user then sets the signal bandwidth of the device by adding a capacitor. This filtering
improves measurement resolution and helps prevent aliasing.
The ADXL335 uses a single structure for sensing the X, Y, and Z axes. As a result,
the three axes sense directions are highly orthogonal and have little cross-axis sensitivity.
Mechanical misalignment of the sensor die to the package is the chief source of cross-axis
sensitivity. Mechanical misalignment can, of course, be calibrated out at the system level.
The user selects the bandwidth of the accelerometer using the C X, CY, and CZ capacitors at
the XOUT, YOUT, and ZOUT pins. Bandwidths can be selected to suit the application, with a
range of 0.5 Hz to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z
axis.
The ADXL335 has provisions for band limiting the XOUT, YOUT, and ZOUT pins.
Capacitors must be added at these pins to implement low-pass filtering for antialiasing and
noise reduction. The equation for the 3 dB bandwidth is
F3 dB = 1/(2(32 k) C(X, Y, Z)).
The tolerance of the internal resistor (RFILT) typically varies as much as 15% of its nominal
value (32 k), and the bandwidth varies accordingly. A minimum capacitance of 0.0047 F
for CX, CY, and CZ is recommended in all cases.

39

5.6.MICROCONTROLLER
5.6.1.GENERAL DESCRIPTION
The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K bytes
of in-system programmable Flash memory. The device is manufactured using Atmels highdensity non-volatile memory technology and is compatible with the industry-standard 80C51
instruction set and pinout. The on-chip Flash allows the program memory to be
reprogrammed in-system or by a conventional non-volatile memory programmer.
By combining a versatile 8-bit CPU with in-system programmable Flash on a
monolithic chip, the Atmel AT89S52 is a powerful microcontroller which provides a highlyflexible and cost-effective solution to many embedded control applications. The AT89S52
provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines,
Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level
interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry. In
addition, the AT89S52 is designed with static logic for operation down to zero frequency and
supports two software selectable power saving modes.
The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port,
and interrupt system to continue functioning. The Power-down mode saves the RAM contents
but freezes the oscillator, disabling all other chip functions until the next interrupt or
hardware reset.
5.6.2.FEATURES
Compatible with MCS-51 Products.
8K Bytes of In-System Programmable (ISP) Flash Memory
Endurance: 1000 Write/Erase Cycles.
4.0V to 5.5V Operating Range.
Fully Static Operation: 0 Hz to 33 MHz.
Three-level Program Memory Lock.
256 x 8-bit Internal RAM.

40

 32 Programmable I/O Lines.

Three 16-bit Timer/Counters.
Eight Interrupt Sources.
Full Duplex UART Serial Channel.
Low-power Idle and Power-down Modes.
Interrupt Recovery from Power-down Mode.
Watchdog Timer.
Dual Data Pointer.
Power-off Flag.
5.6.3 PIN CONFIGURATION

FIGURE 5.6(a) PIN CONFIGURATION

41

1.VCC

Supply voltage.
2.GND
Ground.
3.Port 0
Port 0 is an 8-bit open drain bidirectional I/O port. As an
output port, each pin can sink eight TTL inputs. When 1s
are written to port 0 pins, the pins can be used as highimpedance
inputs.
Port 0 can also be configured to be the multiplexed loworder
address/data bus during accesses to external program and data memory.
In this mode, P0 has internal pullups.
Port 0 also receives the code bytes during Flash programming
and outputs the code bytes during program verification.
External pullups are required during program verification.
Port 1
Port 1 is an 8-bit bidirectional I/O port with internal pullups. The Port 1 output buffers can
sink/source four TTL inputs.
When 1s are written to Port 1 pins, they are pulled high bythe internal pullups and can be
used as inputs. As inputs, Port 1 pins that are externally being pulled low will source current
(IIL) because of the internal pullups.
In addition, P1.0 and P1.1 can be configured to be the timer/counter 2 external count input
(P1.0/T2) and the timer/counter 2 trigger input (P1.1/T2EX), respectively, as shown in the
following table.
Port 1 also receives the low-order address bytes during Flash programming and verification.
42

TABLE 5.6(a) ALTERNATE FUNCTIONS OF PORT 1

Port 2
Port 2 is an 8-bit bidirectional I/O port with internal pullups. The Port 2 output buffers can
sink/source four TTL inputs.
When 1s are written to Port 2 pins, they are pulled high by the internal pullups and can be
used as inputs. As inputs, Port 2 pins that are externally being pulled low will source current
(IIL) because of the internal pullups.
Port 2 emits the high-order address byte during fetches from external program memory and
during accesses toexternal data memory that use 16-bit addresses (MOVX @DPTR). In this
application, Port 2 uses strong internal pullups
when emitting 1s. During accesses to external data memory that use 8-bit addresses (MOVX
@ RI), Port 2emits the contents of the P2 Special Function Register. Port 2 also receives the
high-order address bits and some control signals during Flash programming and verification.
Port 3
Port 3 is an 8-bit bidirectional I/O port with internal pullups. The Port 3 output buffers can
sink/source four TTL inputs.
When 1s are written to Port 3 pins, they are pulled high by the internal pullups and can be
used as inputs. As inputs, Port 3 pins that are externally being pulled low will source current
(IIL) because of the pullups.

43

Port 3 also serves the functions of various special features of the AT89S52, as shown in the
following table. Port 3 also receives some control signals for Flash programming and
verification.

TABLE 5.6(b) ALTERNATE FUNCTION OF PORT 3

RST
Reset input. A high on this pin for two machine cycles while the oscillator is running resets
the device. This pin drives High for 96 oscillator periods after the Watchdog times out. The
DISRTO bit in SFR AUXR (address 8EH) can be used to disable this feature. In the default
state of bit DISRTO, the RESET HIGH out feature is enabled.

ALE/PROG
Address Latch Enable (ALE) is an output pulse for latching the low byte of the address
during accesses to external memory. This pin is also the program pulse input (PROG) during
Flash programming.
In normal operation, ALE is emitted at a constant rate of 1/6 the oscillator frequency and may
be used for external timing or clocking purposes. Note, however, that one ALE pulse is
skipped during each access to external data

44

memory. If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH.
With the bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the
pin isweakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is in
external execution mode.
PSEN
Program Store Enable (PSEN) is the read strobe to external program memory.
When the AT89S52 is executing code from external program memory, PSEN is activated
twice each machine cycle, except that two PSEN activations are skipped during each access
to external data memory.
EA/VPP
External Access Enable. EA must be strapped to GND in order to enable the device to fetch
code from external program memory locations starting at 0000H up to FFFFH.
Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset. EA
should be strapped to VCC for internal program executions.
This pin also receives the 12-volt programming enable voltage (VPP) during Flash
programming.

XTAL1
Input to the inverting oscillator amplifier and input to the internal clock operating circuit.
XTAL2
Output from the inverting oscillator amplifier.

5.5.4.Special Function Registers :A map of the on-chip memory area called the Special Function Register (SFR) space
is shown in Table 5-1.
45

Note that not all of the addresses are occupied, and unoccupied addresses may not be
imple-mented on the chip. Read accesses to these addresses will in general return random
data, and write accesses will have an indeterminate effect.
User software should not write 1s to these unlisted locations, since they may be used in future
products to invoke new features. In that case, the reset or inactive values of the new bits will
always be 0.
Timer 2 Registers: Control and status bits are contained in registers T2CON (shown in Table
5- 2) and T2MOD (shown in Table 10-2) for Timer 2. The register pair (RCAP2H, RCAP2L)
are the Capture/Reload registers for Timer 2 in 16-bit capture mode or 16-bit auto-reload
mode
5.5.5.Memory Organization
MCS-51 devices have a separate address space for Program
and Data Memory. Up to 64K bytes each of external
Program and Data Memory can be addressed.
Program Memory
If the EA pin is connected to GND, all program fetches are directed to external memory.
On the AT89S52, if EA is connected to VCC, program fetches to addresses 0000H through
1FFFH are directed to internal memory and fetches to addresses 2000H through FFFFH are
to external memory.
Data Memory
The AT89S52 implements 256 bytes of on-chip RAM. The upper 128 bytes occupy a parallel
address space to the Special Function Registers. This means that the upper 128 bytes have the
same addresses as the SFR space but are
physically separate from SFR space. When an instruction accesses an internal location above
address 7FH, the address mode used in the instruction specifies whether the CPU accesses the
upper 128 bytes of RAM or the SFR space. Instructions which use direct addressing access of
the SFR space.

46

5.7. 2 X 16 LCD DISPLAY

5.7.1GENERAL DESCRIPTION

47

This is an LCD Display designed for E-blocks. It is a 16 character, 2line alphanumeric LCD display connected to a single 9-way D-type connector. This allows
the device to be connected to most E-Block I/O ports.
The LCD display requires data in a serial format, which is detailed in the user guide
below. The display also requires a 5V power supply. Please take care not to exceed 5V, as this
will

cause

damage

to

the

device.

The

5V

is

best

generated

from

the E-

blocks Multipogrammer or a 5V fixed regulated power supply.

The potentiometer RV1 is a contrast control that should be used to adjust the contrast
of the display for the environment it is being used in.
5.7.2 FEATURES

61 x 15.8 mm viewing area.

5 x 7 dot matrix format for 2.96 x 5.56 mm character, plus cursor line Can display 224
different symbols.

Low power consumption (1 mA typical).

Powerful command set and user produced characters TTL and CMOS compiler.

Connector for standard 0.1-pitch pin headers 5 x 8 dots with cursor.

Built-in controller (KS 0066 or Equivalent)..

+ 5V power supply (Also available for + 3V).

1/16 duty cycle and B/L to be driven by pin 1, pin 2 or pin 15, pin 16 or A.K (LED).

48

5.7.3. PIN CONFIGURATION

TABLE 5.7(a) PIN CONFIGURATION OF LCD DISPLAY

49

5.8.MOTOR DRIVER
5.8.1. GENERAL DESCRIPTION
L293D is a dual HBridge motor driver, so with one IC we can interface two DC motors
which can be controlled in both clockwise and counter clockwise direction and if you have
motor with fix direction of motion. You can make use of all the four I/Os to connect up to
four DC motors. L293D has output current of 600mA and peak 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.
Each channel is controlled by a TTL compatible logic input and each pair of driver is
equipped with an inhibit input which turns off all four transistor. A separate supply voltage is
provided for logic so that it may be run off a lower voltage to reduce dissipation. Additionally
the L293D includes the output clamping diodes within the IC for complete interfacing with
inductive loads
5.8.2. FEATURES

Out put current 1A per channel (600 mA for L293D).

Peak output current 2A per channel ( 1.2A for L293D).

Inhibit facility.

High noise immunity.

Separate logic supply.

Over temperature protection

50

5.9.BATTERY
5.8.1.GENERAL DESCRIPTION
We use 9 volt 3 amp rechargeable battery
A battery is a device that converts stored chemical energy to electrical energy. Batteries are
commonly used as energy sources in many household and industrial applications.
There are two types of batteries: primary batteries (disposable batteries), which are designed
to be used once and discarded, and secondary batteries (rechargeable batteries), which are
designed to be recharged and used multiple times. Batteries come in many sizes, from
miniature cells used in hearing aids and wristwatches toroom-size battery banks that serve as
backup power supplies in telephone exchanges and computer data centers.

51

Chapter 6
METHODOLOGY

52

6.METHODOLOGY
6.1 Body design
The first important thing needed to make any robot is to make its chassis or its body
which carries the battery, control circuit, and actuators (servo motors). There are different
factors which must be kept in mind before starting the work, like :

Material selection.

PCB design.

Battery size and weight.

Proper motor attachment.

Availability of clamps.

Center of mass of body.

The material selected to make motor clamps and body parts must be light in weight as

well as it must also be strong and rigid. In such condition aluminum sheet is the best material
since it can be drilled, cut and twisted with ease and it is strong also.
6.2 Electronic Control Circuit
The control circuit is to be designed such that it can receive serial data from a standard IBM
pc and then generate PWM signals to operate the motors according to the data received.

6.2.1 Choosing microcontroller

The robot need to be controlled by operating all the 16 servo motors attached at different joints of
robots body simultaneously. To accomplish this task microcontroller is required. A microprocessor is
not considered in this case since the system would become bulky n more power consuming as the
peripherals required will be more. A microcontroller has built in RAM and ROM thus making system
compact and less power consuming.
Choosing the right microcontroller is very important . The following criteria must
beconsidered for choosing a microcontroller:

Efficient and cost effective

Speed, packaging, power consumption, amount of RAM and ROM, number of I/O pins,
number of timers, cost per unit

Ease in upgrading to higher performance or low power consumption versions

53

Availability of resources like code efficient C language compiler, technical support,

debugger

Considering the above points the most suitable 8-bit microcontroller is 8051 microcontroller
which is manufactured by multiple number of manufacturers.

6.2.2 Circuit Design

The control circuit schematic is designed by referring the datasheets of the ICs being used.
After the schematic is designed the PCB layout is designed as per the schematics.

6.2.2(a) Schematic Design using ExpressSCH

The schematic is designed by referring the datasheets of the ICs provided by their
manufacturers. The datasheet describes each and every function and feature of the IC or component
and its different characteristics are also provided in the datasheet. The components are selected from
the component manager and connected by lines.

6.2.2(b) PCB designing using ExpressPCB

The PCB design is made by selecting components and then routing the component pins with
tracks. The PCB designed in the software is 2 layer PCB, but we have to design a single layer PCB
hence we only use one layer of PCB, the bottom layer. We design the PCB in such a way that there is
minimum number of track on top layer. This is because we are using a single sided copper plate to
make PCB. The top layer contacts are completed by using jumpers (wire passed from the top side).

54

6.2.2(b).1 Component Placing

Transmitter

FIGURE 6.1(a) COMPONENT PLACING DIAGRAM OF TRANSMITTER

Receiver

FIGURE 6.1(b) COMPONENT PLACING DIAGRAM OF RECEIVER

55

6.2.2(b).2 Component Routing

Transmitter

FIGURE 6.2(a) COMPONENT ROUTING OF TRANSMITTER

Receiver

56

FIGURE 6.2(b) COMPONENT ROUTING OF RECEIVER

6.3 PCB Fabrication
Photolithography is the standard method of printed circuit board (PCB) and
microprocessor fabrication. The photolithography process involves light exposure
through a mask to project the image of a circuit, much like a negative image in
standard photography. PCB fabrication is done in following steps:

Bottom layer is printed on a thin trace paper or butter paper.

Copper plate of appropriate size is cut.

Copper plate is then scrubbed using sand paper.

Cleaning of copper plate is done using isopropyl alcohol.

Coating of Liquid Photo Resist (LPR) is done.

Warm heating is done for curing.

Copper plate is kept over the mask printed on trace paper and exposed to ultraviolet radiation.

Developer solution is applied followed by dying.

Water powering is done after dying to wash off extra dye.

Etching is done using FeCl3

Drilling is done at holes.

Finally PCB is checked for any cracks in tracks.

Soldering of components is done and the testing is done.

6.4 Programming in 8051 Microcontroller

It is an 8-bit microcontroller. It is available in different packages. The most common type of
package is the 40 pin DIP (dual in-line package).

57

Fig 6.3(a) Pin diagram of 8051 microcontroller

Programming in microcontroller can be done in different languages, most widely in C and
Assembly language. Selection of programming language used also matters in the size of the hex file
created. Microcontroller have limited on chip ROM. The code space for 8051 is limited to 64K bytes.
Programming in C language is done due to the following reasons :

It is easier and less time consuming to write in C than in Assembly.

C is easier to modify and update .

Code available in function library can be used.

C code is portable to other microcontrollers with little or no modification.

6.6 KEIL IDE

Fig 6.4(a) first screen of KEIL IDE

58

6.7 Creating new project

Fig 6.4(b) select new uversion project.

6.8 Select location for project

Fig 6.4(c) Select location for saving project6.9 Selecting manufacturer

59

6.9 select device

Fig 6.4(d) Select device

6.10 Adding standard start-up code

Fig 6.4(e) Add standard startup codes

60

6.11 Open new file for writing code

Fig 6.4(f) select new file for opening editor window

6.12 W1riting code

Fig 6.4(g)write code on editor for microcontroller

61

6.13 Setting crystal frequency

Fig 6.4(h) set crystal frequency to 11.0592MHz.

6.14 Create HEX file

Fig 6.4(i) creating HEX file for microcontroller

62

Chapter7
RESULT AND DISCUSSION

63

7.RESULTS AND DISCUSSION

Result:
Transmitter

Fig 7.1 Pictorial view of Transmitter

64

Receiver (TOP VIEW):

Fig 7.2 Pictorial view of Receiver(Top View)

Receiver(SIDE VIEW):

Fig 7.3 Pictorial View OF Receiver(Side View)

65

Discussion:
In this project all the factors related to the mechanical design of the robot and the electronic
design of the transmitter and receiver along with the programming of the accelerometer and
microcontroller etc have been discussed. Discussion about proper power distribution in regulator
circuit, proper current distribution in motors.
Discussion on the microcontroller AT89S51 used in the parallel communication and its proper
connection in the circuitry, Accelerometer pin configuration, Encoder and decoder IC specification
and Pin configuration, connection of regulator for efficient use as power dissipation in the regulator is
high. Connection of motors in the circuitry according to the requirement of current for providing the
maximum torque to the motors so that the robot can efficiently move.
Most important this project is programming and locomotion of the robot that is motion of the
motors with hand gestures. The software used for programming is Keil IDE.

66

Chapter 8
CONCLUSION AND SCOPE OF FUTURE
WORK

67

8.1 CONCLUSION
In our project we have added special features by which our robot can overcome so many problems in
industry. If it is further developed then it can be used for military application.
An Accelerometer is a kind of sensor which gives an analog data while moving in X,Y,Z direction or
may be X,Y direction only depends on the type of the sensor.Here is a small image of an
Accelerometer shown. We can see in the image that their are some arrow showing if we tilt these
sensor's in that direction then the data at that corresponding pin will change in the analog form.
A Gesture Controlled robot is a kind of robot which can be controlled by your hand gestures not by
old buttons.You just need to wear a small transmitting device in your hand which included
an acceleration meter.This will transmit an appropriate command to the robot so that it can do
whatever we want. The transmitting device included a comparator IC for analog to digital conversion
and an encoder which is use to encode the four bit data and then it will transmit by an RF Transmitter
module.

8.2FUTURE SCOPE
This project can be enhanced using voice circuit in this for deaf and dumb people. Voice circuit
converts gestures into voice. With voice circuit implemented this will be useful for Animal Planet,
Discovery people for their studies on animals by playing different sounds & for their exploration.
Further we can add GPRS and GPS modules for place location. We can add video camera for live
streaming. We can add bomb and metal detectors and can send to place, harmful for a person to go.
This type of hand gesture system can be developed for whole body and can be used in military
operations.

68

Chapter 9
REFFERENCES

69

9.REFERENCES

RESEARCH PAPERS REFERRED:

H.J. Boehme, A .Brakensiek, U.D. Braumann, M. Krabbes, and H.M. Gross. Neural networks for
gesture based remote control of a mobile robot. In Proc.1998 IEEE World Congress on Computational
Intelligence WCCI 1998 IJCNN 1998, pages 372-377, Anchorage, 1998. IEEE Computer Society
Press.
H.J. Boehme, U.D. Braumann, A. Brakensiek, A. Corradini, M. Kabbes, and H.M Gross. User
localisation for visually-based human-machine interaction. In Proc. 1998 IEEE Int. Conf. on Face and
Gesture Recognition, pages 486-491, Nara, Japan,1998
.
W. Campbell, A. Becker, A. Azarbayejani, A. Bobick, and A .Pentland. Invariant feature for 3-d
gesture recognition. Technical Report 379, M.I.T. Media Laboratory Perceptual
Computing Section, 1996.
Y. Cui and J.J. Weng. Hand sign recognition from intensity image sequences with complex
backgrouns. In Proceedings of the Second International Conference on Automatic Face
and Gesture Recognition, Killington, Vermont, 1996.
WEBSITES REFERRED
www.google.com.
www.atmel.com.
www.alldatasheet.com.
www.wikipedia.com.
www.efymag.com.
ieeexplore.ieee.org.
www.strobotix.com

70