A project report on

GESTURE CONTROLLED ROBOT

(Hand Glove Based)
Submitted to

Uttar Pradesh Technical University

In Partial Fulfillment of the Requirements
for the Degree of
Bachelor in Technology
in
Electronics & Instrumentation Engineering
Under the supervision of

Mr.T.S.S.Subramanian (Assist. Professor)

Department of Electronics & Instrumentation Engineering

Submitted By
Harendra Rajput

1106432017

Prateek Gupta

1106432029

Shubham Varshney

1106432037

Vishnu Upadhyay

1106432044

Hindustan College of Science & Technology, Mathura

May,2015

ABSTRACT

A gesture is a form of non-verbal communication or non-vocal communication we

implement in our day to day life. This project takes this mode of communication to a
whole new level. Enormous amount of work has been done on wireless gesture
controlling robots. In this project, various methodologies have been analysed and
reviewed with their merits and demerits under various operational and functional
strategies. Thus, it can be concluded that features like user friendly interface, light
weight and portability of android OS based smart phone has overtaken the
sophistication of technologies like programmable glove, static cameras etc., making
them obsolete. Although recent researches in this field have made wireless gesture
controlling a ubiquitous phenomenon, it needs to acquire more focus in relevant
areas of applications like home appliances, wheelchairs, artificial nurses, table top
screens etc. in a collaborative manner. In this project we have explained the
development of a robot which is controlled wirelessly with the help of hand gestures.
The complete robotic assembly is made into two modules a transmitter assembly is
placed on the glove comprising of 433 MHz RF Module, HT12E IC.

ii

ACKNOWLEDGEMENT
Development of this project was a meticulous job and requires a lot of
commitment. It is pleasure for us to express our thanks and heartiest gratitude to
Mr. T.S.S.Subramanian (Asst. Professor, EIE Department) ,Mr. Nitin Bansal
(Project Coordinator) and Mr. S.K. Agrahari (H.O.D) for providing us the
required useful information and guiding us through this project. They were very
encouraging and helpful throughout this project.Our sincere gratitude to HCST,
in general for providing, study material and labs with all facilities for project
development.
We would like to thank all those who helped us directly or indirectly during the
development of this challenging project. We would like to take this opportunity
to thank them all while we cheerfully share the accurate credit for accurate
aspect of this project report, the mistakes and omissions we have to claim as our
alone please bring it out to our notice.

Harendra Rajput (1106432017)

Prateek Gupta (1106432029)
ShubhamVarshney (1106432037)
Vishnu Upadhyay (1106432044)

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TABLE OF CONTENTS
Title

PageNo.

Certificate........ii
Abstract.. iii
Acknowledgement .iv
Objective. . .ix
CHAPTER 1: INTRODUCTION
1.1 Robot ..x
1.2 Human machine interaction ..xi
1.3 Gesture ....xi
1.4 Motivation for project ...xi

LITERATURE SURVEY.........xi
CHAPTER 2 : COMPONENTS DESCRIPTION
2.1 433.92 Transmitter/Reciever

..xiii-xv

2.2 Motor Driver Ic (L293D) ..xvi

2.3 Atmel AT89S52 Microcontroller xvii-xxviii
2.4 Voltage Regulator IC (7805) ....xxix
2.5 Capacitors .xxx
2.6 11.0592 MHz Crystal Oscillators ..xxxi
2.7 PCB ..xxxii
2.8 SINGLE POLE ANTENNA..xxxiii
2.9 LEDs 3mm ..xxxiv
2.10 Battery 12V 3.5 A ..xxxv
2.11 LM324 Comparator IC....xxxvi-xl
Soldering
Need for flux
2.12 Resistors .xli
2.13 Encoder ..xlii

iv

2.14 Decoder .xliii

2.15 Velostat ..xliv
2.16 Switch..xlv
2.17 Diode..xlvi
CHAPTER 3 :
3.1

Schematic Diagramsxlvii-xlviii

3.2 Process For Making Hand glove circuit..xlix

3.3 Components Required ...li
3.4 Code for reciever ...lii

CHAPTER 4: ADVANTAGESliii-liv

CHAPTER 5: FUTURE USE.lv

CHAPTER 6: CONCLUSION..lvi
GLIMPSES OF PROJECT...lvii

REFERENCES..lvii

LIST OF FIGURES
Figure

Page No

CHAPTER 2
1. 433.92MHz TRANSMITTER/RECIEVER ....xiii-xv
2. MOTOR DRIVER IC (L293D) ...xvi
3. ATMEL AT 89S52 MICROCONTROLLER Pin
Diagramxvii
4. AT 89S52 ICxvii
5. VOLTAGE REGULATOR IC ...xxix
6. CAPACITOR 10F..........................xxx
7. Crystal Oscillators...xxxi
8. PCB..xxvi
9. Single Pole Antenna...xxxiii
10. LED 3mm..xxxiv
11. Batteryxxxv
12. LM324 IC OP-AMP..................................xxxvi
13. LM324 COMPARATOR IC Pin Config..xxxvi
14. LM324 COMPARATOR IC .xxxvii
15. Resistors Coding...xli
16. HT12E ENCODER IC PIN DIAGRAM.. ..xlii
17. HT12D DECODER IC PIN DIAGRAM ..xliii
18.VELOSTAT .. .....xliv
vi

19. Switch.xlv
20. Diode.xlvi

CHAPTER 3
1. Transmitter..xlvii
2. Reciever..xlvii
GLIMPSES OF PROJECTlvii

vii

LIST OF TABLES

TABLE NO.
1
2

viii

TOPIC
PORT 1
CONFIGURATION
PORT 3
CONFIGURATION

PAGE NO.
xxvi
xxvii

OBJECTIVE

1. Humans communicate mainly by vision and gesture; therefore, a manmachine interface would be more intuitive if it made greater use of
gesture recognition. Another advantage is that the user not only can
communicate from a distance, but have no need of physical contact
with the computer. We aim to design hardware instrumentation for
gesture controlled robot
2. Hardware instrumentation-gesture device
3. Hardware instrumentation-robotic device
4. To do real time monitoring of the system

ix

CHAPTER 1
INTRODUCTION
We generally find people working in chemical industries under different
hazardous condition. These people suffer with many dangerous diseases
like skin cancer, lungs problem and many more. So we finally thought of
designing a robot that can copy that instant action of human being under
various conditions and situations .In market many types of robot are
available that are controlled by remote or cellphone or by direct wired
connection but their costs are high even for low end application activities.
So we decided to design a robot that doesnt require any type of remote or
any physical communication module. It is a smart robot which will be
driving itself according to the gestures of user's hand. Hardware required
is very small, and hence low cost and small in size. Thus, monitoring a
number of tasks from a distance wirelessly in a more convenient way is
possible.
Major artifacts related to this project are explained below.
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 HumanMachine 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).
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.

xi

LITERATURE SURVEY
There exist some works in the field gesture recognition in which
instruments are designed and build for man-machine interface using a
video camera to interpret the American one-handed sign language
alphabet and number gestures (plus others for additional keyboard and
mouse control).
Humans communicate mainly by vision and sound, therefore, a manmachine interface is also available which is intuitive. It makes greater use
of vision and audio recognition. Another advantage is that the user not
only can communicate from a distance, but need have no physical contact
with the computer. However, unlike audio commands, a visual system
will be preferable as in noisy environments or at situations where sound
would cause a disturbance.
There is a simplification used in this project, which was not found in any
recognition methods researched. The number of different gestures
recognised and the recognition accuracy are amongst the best found.

xii

CHAPTER 2
COMPONENTS DESCRIPTION
2.1 433.92 MHz TRANSMITTER/RECEIVER

FIGURE 1: 433.92 MHz TRANSMITTER/RECEIVER

These RF Modules are designed to serve as a tool for electronic
design engineers, developers and students to perform wireless
experiments. These modules make it easy for any NON RF
Experienced developer to add Wireless RF Remote Control to their
project. The RF Modules are in a PCB (Printed Circuit Board)
form with a header that fits directly into most of the prototyping
boards. These are easy to use boards that include encoders,
decoders, addressing, RF data Processing and even the antenna, in
a simple fully range tested board that is ready to plug right into
your project. Just apply +5VDC, ground, and the communication
pins you require and enjoy hassle free wireless communications.
The boards operate on +5V and easily interface to your Basic
Stamp.

xiii

Transmitter

Specification:
Working voltage: 3V - 12V fo max. power use 12V

Working current: max Less than 40mA max , and min 9mA
Resonance mode: (SAW)
Modulation mode: ASK
Working frequency: Eve 315MHz Or 433MHz
Transmission power: 25mW (315MHz at 12V)
Frequency error: +150kHz (max)
Velocity : less than 10Kbps

xiv

Receiver:

Specification:
Working voltage: 3V - 12V fo max. power use 12V
Working current: max Less than 40mA max , and min 9mA
Resonance mode: (SAW)
Modulation mode: ASK
Working frequency: Eve 315MHz Or 433MHz
Transmission power: 25mW (315MHz at 12V)
Frequency error: +150kHz (max)
Velocity : less than 10Kbps

xv

2.2 MOTOR DRIVER IC(L293D)

FIGURE 2: Motor Driver IC (L293D)

L293D is a dual H-bridge motor driver integrated circuit (IC).

Motor drivers act as current amplifiers since they take a lowcurrent control signal and provide a higher-current signal. This
higher current signal is used to drive the motors. L293D contains
two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in
forward and reverse direction. The motor operations of two motors
can be controlled by input logic at pins 2 & 7 and 10 & 15. Input
logic 00 or 11 will stop the corresponding motor. Logic 01 and 10
will rotate it in clockwise and anticlockwise directions,
respectively. Enable pins 1 and 9 (corresponding to the two
motors) must be high for motors to start operating. When an enable
input is high, the associated driver gets enabled. As a result, the
outputs become active and work in phase with their inputs.
Similarly, when the enable input is low, that driver is disabled, and
their outputs are off and in the high-impedance state.

xvi

2.3 ATMEL AT89S52 MICROCONTROLLER

Fig 3-AT89S52 C Pin diagram

Fig 4: Atmel AT89S52Microcontroller IC

xvii

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 high-density
nonvolatile memory technology and is compatible with the
industry-standard 80C51 instruction set and pin out. The on-chip
Flash allows the program memory to be reprogrammed in-system
or by a conventional nonvolatile 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 highly-flexible 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, 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.
2.1.2 MICROCONTROLLER SYSTEM
In today present a lot of microcontroller manufactures appeared
almost every major electronic company produce their own
microcontroller to use into their own devices each microcontroller
type may add or improve existing features but all microcontrollers
share basic features that is microprocessor (CPU), memory and an
input-output (I/O) device.
The input components would consist of digital devices such as,
switches, push buttons, pressure mats, float switches, keypads,
radio receivers etc. and analogue sensors such as light dependent
resistors, thermistors, gas sensors, pressure sensors, etc.

xviii

The control unit is of course the microcontroller. The

microcontroller will monitor the inputs and as a result the program
would turn outputs on and off. The microcontroller stores the
program in its memory, and executes the instructions under the
control of the clock circuit.
The output devices would be made up from LEDs, buzzers,
motors, alpha numeric displays, radio transmitters, 7 segment
displays, heaters, fans etc.

The most obvious choice then for the microcontroller is how many
digital inputs, analogue inputs and outputs does the system require.
This would then specify the minimum number of inputs and
outputs (I/O) that the microcontroller must have. If analogue inputs
are used then the microcontroller must have an Analogue to Digital
(A/D) module inside.
The next consideration would be what size of program memory
storage is required. This should not be too much of a problem when
starting out, as most programs would be relatively small.
The clock frequency determines the speed at which the instructions
are executed. This is important if any lengthy calculations are
being undertaken. The higher the clock frequency the quicker the
micro will finish one task and start another.
Other considerations are the number of interrupts and timer circuits
required how much data EEPROM if any is needed.
Microcontrollers have traditionally been programmed using the
assembly language of the target device. Although the assembly
language is fast, it has several disadvantages. An assembly
program makes learning and maintaining a program written using
the assembly language difficult. Also, microcontrollers
manufactured by different firms have different assembly
languages, so the user must learn a new language with every new
microcontroller he uses.
Microcontrollers can also be programmed using a high-level
language, such as BASIC, PASCAL, or C. High-level languages
are much easier to learn than assembly languages. They also
facilitate the development of large and complex programs.
xix

A microcontroller is a very powerful tool that allows a designer to

create sophisticated input-output data manipulation under program
control. Microcontrollers are classified by the number of bits they
process Microcontrollers with 8 bits are the most popular and are
used in most microcontroller-based applications. Microcontrollers
with 16 and 32 bits are much more powerful, but are usually more
expensive and not required in most small- or medium-size general
purpose applications that call for microcontrollers.

CENTRAL PROCESSING UNIT:

As its name indicates, this is a unit which monitors and controls all
processes inside the microcontroller. It consists of several smaller
units, of which the most important are:
Instruction Decoder: is a part of electronics which recognizes
program instructions and runs other circuits on the basis of that.
The instruction set which is different for each microcontroller
family expresses the abilities of this circuit.
Arithmetical Logical Unit (ALU): performs all mathematical and
logical operations upon data.
Accumulator: is a SFR closely related to the operation of ALU. It
is a kind of working desk used for storing all data upon which
some operation should be performed (addition, shift/move etc.). It
also stores results ready for use in further processing.
Status Register (PSW): One of SFRs is close to the accumulator. It
shows at any moment the status of a number stored in the
accumulator (number is greater or less than zero etc.).

MEMORY UNIT
Memory, an important part of a microcontroller system, can be
classified into two types: program memory and data memory.
Program memory stores the program written by the programmer
and is usually nonvolatile (i.e., data is not lost after the power is
turned off). Data memory stores the temporary data used in a
program and is usually volatile (i.e., data is lost after the power is
turned off).

xx

RAM
RAM, random access memory, is a general purpose memory that
usually stores the user data in a program. RAM memory is volatile
in the sense that it cannot retain data in the absence of power (i.e.,
data is lost after the power is turned off). Most microcontrollers
have some amount of internal RAM, 256 bytes being a common
amount, although some microcontrollers have more, some less. The
AT89C52 microcontroller, for example, has 256 bytes of RAM.
Memory can usually be extended by adding external memory
chips.

ROM
ROM, read only memory, usually holds program or fixed user data.
ROM is nonvolatile. If power is removed from ROM and then
reapplied, the original data will still be there. ROM memory is
programmed during the manufacturing process, and the user cannot
change its contents. ROM memory is only useful if you have
developed a program and wish to create several thousand copies of
it.

INPUT / OUTPUT PORTS

In order that the microcontroller is of any use, it has to be
connected to additional electronics, i. e. peripherals. For that
reason, each microcontroller has one or more registers (called
"port" in this case) connected to the microcontroller pins. Why
input/output? Because you can change the pins function as you
wish. simply performed by software, which means that pins
function can be changed during operation. One of more important
feature of I/O pins is maximal current they can give/get. For the
most microcontrollers, current obtained from one pin is sufficient
to activate a LED or other similar low-current consumer (10-20
mA). If the microcontroller has many I/O pins, then maximal
current of one pin is lower. each I/O port is under control of
another SFR, which means that each bit of that register determines
state of the corresponding microcontroller pin. For example, by
writing logic one (1) to one bit of that control register SFR, the
appropriate port pin is automatically configured as input. It means
that voltage brought to that pin can be read as logic 0 or 1.
Otherwise, by writing zero to the SFR, the appropriate port pin is
configured as output. Its voltage (0V or 5V) corresponds to the
state of the appropriate bit of the port register.
xxi

SOME OF MICROCONTROLLER FEATURES

SUPPLY VOLTAGE
Most microcontrollers operate with the standard logic voltage of +
5V. Some microcontrollers can operate at as low as + 2.7V, and
some will tolerate + 6V without any problem. The manufacturers
data sheet will have information about the allowed limits of the
power supply voltage. At89c52 microcontrollers can operate with a
power supply of + 2V to 5.5V. Usually, a voltage regulator circuit
is used to obtain the required power supply voltage when the
device is operated from a mains adapter or batteries. For example,
a 5V regulator is required if the microcontroller is operated from a
5V supply using a 9V battery.

THE CLOCK
All microcontrollers require a clock (or an oscillator) to operate,
usually provided by external timing devices connected to the
microcontroller. In most cases, these external timing devices are a
crystal plus two small capacitors. In some cases they are resonators
or an external resistor-capacitor pair. Some microcontrollers have
built-in timing circuits and do not require external timing
components. If an application is not time-sensitive, external or
internal (if available) resistor-capacitor timing components are the
best option for their simplicity and low cost. An instruction is
executed by fetching it from the memory and then decoding it. This
usually takes several clock cycles and is known as the instruction
cycle. Thus the microcontroller operates at a clock rate that is onequarter of the actual oscillator frequency. The 8051 series of
microcontrollers can operate with clock frequencies up to 40MHz.

TIMERS
Timers are important parts of any microcontroller. A timer is
basically a counter which is driven from either an external clock
pulse or the microcontrollers internal oscillator. A timer can be 8
bits or 16 bits wide. Data can be loaded into a timer under program
control, and the timer can be stopped or started by program control.
Most timers can be configured to generate an interrupt when they
reach a certain count (usually when they overflow). For example,
the AT89C52 microcontroller has three built-in timers.

xxii

RESET INPUT
A reset input is used to reset a microcontroller externally. Resetting
puts the microcontroller into a known state such that the program
execution starts from address 0 of the program memory. An
external reset action is usually achieved by connecting a pushbutton switch to the reset input. When the switch is pressed, the
microcontroller is reset.

INTERRUPTS
Interrupts are an important concept in microcontrollers. An
interrupt causes the microcontroller to respond to external and
internal (e.g., a timer) events very quickly. When an interrupt
occurs, the microcontroller leaves its normal flow of program
execution and jumps to a special part of the program known as the
interrupt service routine (ISR). The program code inside the ISR is
executed, and upon return from the ISR the program resumes its
normal flow of execution.

The ISR starts from a fixed address of the program memory

sometimes known as the interrupt vector address. Some
microcontrollers with multi-interrupt features have just one
interrupt vector address, while others have unique interrupt vector
addresses, one for each interrupt source. Interrupts can be nested
such that a new interrupt can suspend the execution of another
interrupt. Another important feature of multi-interrupt capability is
that different interrupt sources can be assigned different levels of
priority. The at89c52 microcontroller has 8 interrupts source.

ANALOG-TO-DIGITAL CONVERTER
An analog-to-digital converter (A/D) is used to convert an analog
signal, such as voltage, to digital form so a microcontroller can
read and process it. Some microcontrollers have built-in A/D
converters. External A/D converter can also be connected to any
type of microcontroller. A/D converters are usually 8 to 10 bits,
having 256 to 1024 quantization levels. Most 8051
microcontrollers with A/D features have multiplexed A/D
converters which provide more than one analog input channel. The
xxiii

A/D conversion process must be started by the user program and

may take several hundred microseconds to complete. A/D
converters usually generate interrupts when a conversion is
complete so the user program can read the converted data quickly.
A/D converters are especially useful in control and monitoring
applications, since most sensors (e.g., temperature sensors,
pressure sensors, force sensors, etc.) produce analog output
voltages.

Serial Input-Output
Serial communication (also called RS232 communication) enables
a microcontroller to be connected to another microcontroller or to a
PC using a serial cable. Some microcontrollers have built-in
hardware called USART (universal synchronous-asynchronous
receiver-transmitter) to implement a serial communication
interface. The user program can usually select the baud rate and
data format. If no serial input-output hardware is provided, it is
easy to develop software to implement serial data communication
using any I/O pin of a microcontroller.

xxiv

FEATURES:
1. Compatible with MCS-51 Products
2. 8K Bytes of In-System Programmable (ISP) Flash Memory
Endurance: 10,000 Write/Erase Cycles
3. 4.0V to 5.5V Operating Range
4. Fully Static Operation: 0 Hz to 33 MHz
5. Three-level Program Memory Lock
6. 128 x 8-bit Internal RAM
7. 32 Programmable I/O Lines
8. Two 16-bit Timer/Counters
9. Six Interrupt Sources
10. Full Duplex UART Serial Channel
11. Low-power Idle and Power-down Modes
12. Interrupt Recovery from Power-down Mode
13. Watchdog Timer
14. Dual Data Pointer
15. Power-off Flag
16. Fast Programming Time
17. Flexible ISP Programming (Byte and Page Mode)
18. Green (Pb/Halide-free) Packaging Option
Pin Description
VCC: Supply voltage.
GND: Ground.
Port 0: Port 0 is an 8-bit open drain bi-directional 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 high-impedance
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 pull-ups. Port 0 also
receives the code bytes during Flash programming and outputs the
code bytes during program verification. External pull-ups are
required during program verification.

xxv

Port 1: Port 1 is an 8-bit bi-directional 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 by the
internal pull-ups 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 pull-ups. Port 1 also receives the low-order
address bytes during Flash programming and verification.

Table 1
Port Pin

Alternate Function

P1.6

MOSI (used for In-System Programming)

P1.7

MISO (used for In-System Programming)

P1.8

SCK (used for In-System Programming)

Port 2: Port 2 is an 8-bit bi-directional 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 pull-ups 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 pull-ups. Port 2 emits the high-order address
byte during fetches from external program memory and during
accesses to external data memory that use 16-bit addresses (MOVX
@ DPTR). In this application, Port 2 uses strong internal pull-ups
when emitting 1s. During accesses to external data memory that
use 8-bit addresses (MOVX @ RI), Port 2 emits 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 bi-directional 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 pull-ups and can be used as inputs. As inputs, Port 3 pins
that are externally being pulled low will source current (IIL)
because of the pull-ups.Port 3 receives some control signals for
Flash programming and verification.

xxvi

Port 3 also serves the functions of various special features of the

AT89S51, as shown in the following table.

Table 2
Port
Pin

Alternate Functions

P3.0

RXD(serial input port)

P3.1

TXD(serial output port)

P3.2

INT0 (external interrupt 0)

P3.3

INT1 (external interrupt 1)

P3.4

T0(timer0 external input)

P3.5

T1(timer 1 external input)

P3.6

WR (external data memory write strobe)

P3.7

RD (external data memory read strobe)

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
98 oscillator periods after the Watchdog times out. The DIS-RTO
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.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 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 is weakly pulled high

xxvii

PSEN: Program Store Enable (PSEN) is the read strobe to external

program memory. When the AT89S51 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. 4.10 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/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.

xxviii

2.4

VOLTAGE REGULATOR IC(7805)

Fig. 5: Voltage Regulator IC (7805)

The 7805 is from a family of self-contained fixed linear voltage
regulator integrated circuit. The 78xx family is commonly used in
electronic circuits requiring a regulated power supply due to their
ease-of-use and low cost. For ICs within the family, the xx is
replaced with two digits, indicating the output voltage (here the
7805 has a 5 volt output, while the 7812 produces 12 volts). The
78xx lines are positive voltage regulators: they produce a voltage
that is positive relative to a common ground. There is a related line
of 79xx devices which are complementary negative voltage
regulators. 78xx and 79xx ICs can be used in combination to
provide positive and negative supply voltages in the same
circuit.78xx series ICs do not require additional components to
provide a constant, regulated source of power, making them easy to
use, as well as economical and efficient uses of space. Other
voltage regulators may require additional components to set the
output voltage level, or to assist in the regulation process. Some
other designs (such as a switched mode power supply) may need
substantial engineering expertise to implement.

xxix

2.5 CAPACITORS

Fig. 6: CAPACITOR 10 F

Capacitor is an electronics/electrical device that can store energy in

the form of electrical field between a pair of conductor (called
plates).
The process of storing energy in the capacitor is called charging
equally on both plates.
This device is used as filter; means to filter a low frequency signal
or high frequency signal depend on the configuration.
The capacitor capacitance (c) is a measure of the amount of charge
stored on each plate for a given potential difference or voltage (v)
which appears on the plate of the capacitors.
C=q/v
The SI unit of capacitance is farad, usually SI units is expressed in
micro-farad (f), nano-farad (nf), pico-farad.

xxx

2.6 11.0592 MHz CRYSTAL OSCILLATOR

Fig. 7: 11.0592 MHz CRYSTAL OSCILLATOR

A crystal oscillator is an electronic oscillator circuit that uses the

mechanical resonance of vibrating crystal of piezo-electric material to
create an electrical signal with a very precise frequency. This
frequency is commonly used to keep track of time (as in quartz
wristwatches), to provide a stable clock signal for digital integrated
circuits,
and
to
stabilize
frequencies
for radio
transmitters and receivers. The most common type of piezoelectric
resonator used is the quartz crystal, so oscillator circuits incorporating
them became known as crystal oscillators, but other piezoelectric
materials including polycrystalline ceramics are used in similar
circuits.

xxxi

2.7

PCB:

Fig. 8: PCB
By generalized, we mean that we are free to make any kind of circuit as
we wish using this PCB. This makes it useful for small scale production
of electronic devices and also for testing out new ideas before production.
Like a normal PCB, it provides a means to hold all of our components
together in one place as a single unit. But it does not provide the
connection between components as provided by a specific purpose PCB
using tracks. So the users have to make the connections their selves using
wires and solder joints. They have holes all over it in a grid like pattern
unlike a specific purpose PCB which only have holes where required. So
in a general purpose PCB, you can place components anywhere you like.
The image below shows the back side of a general purpose PCB.

xxxii

2.8 SINGLE POLE ANTENNA

Fig.9 SINGLE POLE ANTENNA

A single/monopole antenna is a class of radio antenna consisting

of a straight rod-shaped conductor, often mounted perpendicularly
over some type of conductive surface, called a ground plane. The
driving signal from the transmitter is applied, or for receiving
antennas the output signal to the receiver is taken, between the
lower end of the monopole and the ground plane. One side of the
antenna feed line is attached to the lower end of the monopole, and
the other side is attached to the ground plane, which is often the
Earth. This contrasts with a dipole antenna which consists of two
identical rod conductors, with the signal from the transmitter
applied between the two halves of the antenna.The monopole is
a resonant antenna; the rod functions as a resonator for radio
waves, with oscillating standing waves of voltage and current
along its length. Therefore the length of the antenna is determined
by the wavelength of the radio waves it is used with.

xxxiii

2.9 LEDs 3mm

Fig. 10 : LEDs 3mm

A light-emitting diode (LED) is a two-lead semiconductor light

source. It is a basic pn-junction diode, which emits light when
activated. When
a
fitting voltage is
applied
to
the
leads, electrons are able to recombine with electron holes within
the device, releasing energy in the form of photons. This effect is
called electroluminescence, and the color of the light
(corresponding to the energy of the photon) is determined by the
energy band gap of the semiconductor.
An LED is often small in area (less than 1 mm2) and integrated
optical components may be used to shape its radiation pattern.
The earliest LEDs emitted low-intensity infrared light. Infrared
LEDs are still frequently used as transmitting elements in remotecontrol circuits,such as those in remote controls for a wide variety
of consumer electronics. The first visible-light LEDs were also of
low intensity, and limited to red. Modern LEDs are available
across the visible, ultraviolet and infrared wavelengths, with very
high brightness.

xxxiv

2.10 BATTERY 12V 3.5 Amp

Fig .11 : BATTERY

An electric battery is a device consisting of one or more

electrochemical cells that convert stored chemical energy into
electrical energy.Each cell contains a positive terminal, or cathode,
and a negative terminal, or anode. Electrolytes allow ions to move
between the electrodes and terminals,which allows current to flow
out of the battery to perform work.
Primary (single-use or "disposable") batteries are used once and
discarded; the electrode materials are irreversibly changed during
discharge. Common examples are the alkaline battery used
for flashlights and a multitude of portable devices.
Secondary(rechargeable batteries) can be discharged and recharged
multiple times; the original composition of the electrodes can be
restored by reverse current. Examples include the lead-acid
batteries used in vehicles and lithium ion batteries used for portable
electronics.
Batteries come in many shapes and sizes, from miniature cells used
to power hearing aids and wristwatches to battery banks the size of
rooms that provide standby power for telephone exchanges and
computer data centers.

xxxv

2.11 LM324 Comparator IC

Fig.12 :LM324 op-amp

ANALOG TO DIGITAL CONVERTERS

Fig.13 : LM 324 IC Pin Configration

xxxvi

As we all know that in the world of electronics all the

microcontrollers and microprocessors works on DIGITAL
SIGNAL, but from the sources like battery we get a ANALOG
SIGNAL. So in embedded systems it is mandatory to convert the
analog signal into digital signal.So for converting the analog signal
into digital signal we use operational amplifiers(OP-AMP). We use
operational amplifiers as a voltage comparator. We fix a voltage at
negative input with the help of variable resistor of 10k ohm and at
input we give our analog signal. If the analog signal is greater than
the fix voltage at negative input then we get 1 in output(means
+5V) and if the analog signal voltage is less than the voltage at
negative input then we get 0 at output(means 0V).We uses LM324
IC for ADC.

Fig.14: LM324 Comparator IC

This is the schematic for NON-INVERTING configuration. Take

the outputs from output pins. Give your analogy input signal to pin
3, 5, 10, and 12. For INVERTING configurations connect the
variable resistors and negative inputs and gives an analog input at
positive terminal.

xxxvii

Features:
o
o
o
o
o
o
o

Internally frequency compensated for unity gain

Large DC voltage gain 100 dB
Wide bandwidth 1 MHz
Wide power supply range: Single supply 3V to 32V
Essentially independent of supply voltage
Differential input voltage range equal to the power supply voltage
Large output voltage swing 0V to V+ 1.5V
Potential dividers of LM323 are connected to the inverting and non
inverting inputs of the op-amp to give some voltage at these
terminals. Supply voltage is given to +V and V is connected to
ground. The output of this comparator will be logic high if the noninverting terminal input is greater than the inverting terminal input
of the comparator. When the inverting input is more than the noninverting then logic low (0) will be the output.

Working of LM324:
o

o
o

xxxviii

When the power is applied to non-inverting terminal which is less

than the inverting voltage of op-amp then the output becomes zero
which means there is no current flow. Because we already know
that when + > = 1. Here the + sign indicates non-inverting
terminal and -sign indicates the inverting terminal.
If the non-inverting voltage is greater than the inverting voltage
then the output will be high.
In this output of LM324 is internally connected to some resistance
and it has some arrangement inside the IC, which makes a lot of
difference to other comparators.
It is internally pulled-up, so no need of any resistor connection
from the supply.

SOLDERING
Soldering is the process of joining of two metals using an alloy
solder consisting of Tin and Lead (Sn-Pb). Tin determines the
melting whereas the Lead is used to reduce the cost. After the PCB
fabrication is done, the various components are arranged at proper
locations on the PCB and then the soldering is done. All liquids
consist of particles which attract each other. The surface is always
trying to shrink and this is because of surface tension. The
principle behind soldering is that when liquid particles are brought
in contact with the walls of the solid surface, it may happen that the
solid attracts the liquid surface. This property is called adhesive
property

Care must be taken that the melting point of solder is below that of
the metal so that its surface is melted without melting without the
metal.

xxxix

NEED FOR FLUX

During the soldering process the flu for improving the degree of
melting. The basic functions of flux are mentioned x acts as a
medium below:
1. Removes oxide from the surface.
2. Assists the transfer of heat from the source to the joining and
provides a liquid cover including air gap.
3. Removal of residue after the completion of the soldering
operation.

xl

2.12 RESISTORS:

Fig.15: RESISTOR CODING

A resistor is a passive two-terminal electrical component that

implements electrical resistance as a circuit element. Resistors act
to reduce current flow, and, at the same time, act to lower voltage
levels within circuits. In electronic circuits resistors are used to
limit current flow, to adjust signal levels, bias active elements,
terminate transmission lines among other uses. High-power
resistors that can dissipate many watts of electrical power as heat
may be used as part of motor controls, in power distribution
systems, or as test loads for generators. Fixed resistors have
resistances that only change slightly with temperature, time or
operating voltage. Variable resistors can be used to adjust circuit
elements (such as a volume control or a lamp dimmer), or as
sensing devices for heat, light, humidity, force, or chemical
activity.

xli

2.13 ENCODER
HT12E is a 212 series encoder IC (Integrated Circuit) for remote
control applications. It is commonly used for radio frequency (RF)
applications. By using the paired HT12E encoder
and HT12D decoder we can easily transmit and receive 12 bits of
parallel data serially. HT12E simply converts 12 bit parallel data in
to serial output which can be transmitted through a RF transmitter.
These 12 bit parallel data is divided in to 8 address bits and 4 data
bits. By using these address pins we can provide 8 bit security code
for data transmission and multiple receivers may be addressed
using the same transmitter.We use HT12E IC for encoding the
signal. This is a 4 bit encoder which encodes the 4 bits into a signal
bit and transmit it via RF transmitter.

Fig 16-HT12E Encoder IC Pin diagram

xlii

The pin Description of the IC HT12E was pretty simple to

understand with total of 18 pins.
VDD and VSS: Positive and negative power supply pins.
OSC1 and OSC2: Input and output pins of the internal oscillator
present inside the IC.
TE: This pin is used for enabling the transmission, a low signal in
this pin will enable the transmission of data bits.
A0 A7: These are the input address pins used for secured
transmission of this data. These pins can be connected to VSS or
left open.
AD0 AD3: This pins are feeding data into the the IC. These pins
may be connected to VSS or may be left open for sending LOW or
HIGH bits to the encoder.
DOUT: The output of the encoder can be obtained through this
pin and can be connected to the RF transmitter

2.14 DECODER:HT12D is a decoder integrated circuit that belongs to

212 series of decoders. This series of decoders are mainly used
for remote control system applications, like burglar alarm, car
door controller, security system etc. It is mainly provided to
interface RF and infrared circuits. They are paired with
212 series of encoders. The chosen pair of encoder/decoder
should have same number of addresses and data format.
In simple terms, HT12D converts the serial input into parallel
outputs. It decodes the serial addresses and data received by,
say, an RF receiver, into parallel data and sends them to output
data pins. The serial input data is compared with the local
addresses three times continuously. The input data code is
decoded when no error or unmatched codes are found. A valid
transmission in indicated by a high signal at VT pin.
We use HT12D IC for .decoding the signal. This is a 4 bit
decoder which decodes the signal bit into 4 bits and it receive
the single bit via RF receiver.

Fig-17 HT12D Decoder IC Pin diagram

Address line A0-A7 must have the same configuration as in

encoder. Otherwise it will not work.

D0-D3 are data output.

Input pin is the single bit input from RF receiver.

We connect resistance of 51K ohm to osc1 and osc2 for

proper oscillation.
xliii

2.15 VELOSTAT:
Velostat is a packaging material made of a polymeric foil
(polyolefines) impregnated with carbon black to make
it electrically conductive. It is used for the protection of items or
devices that are susceptible to damage from electrostatic
discharge It was developed by Custom Materials, now part of 3M.
Due to its properties of changing its resistance with either flexing
or pressure it is becoming popular with hobbyists for making
inexpensive sensors for microcontroller experiments.

Fig 18 Velostat

Features

xliv

Dimensions: 11" x 11" (280mm x 280mm)

8 mil / 0.2mm thick
Weight: 18.66g
Temperature Limits : -45C to 65C (-50F to 150F)
Heat Sealable : Yes
Volume Resistivity : <500 ohm-cm
Surface Resistivity : < 31,000 ohms/sq.cm

2.16 SWITCH
The most familiar form of switch is a manually
operated electromechanical device with one or more sets
of electrical contacts, which are connected to external circuits. A
switch may be directly manipulated by a human as a control signal
to a system, such as a computer keyboard button, or to control
power flow in a circuit, such as a light switch.

Fig 19-Switch

Automatically operated switches can be used to control the motions

of machines, for example, to indicate that a garage door has
reached its full open position or that a machine tool is in a position
to accept another work piece. Switches may be operated by process
variables such as pressure, temperature, flow, current, voltage, and
force, acting as sensors in a process and used to automatically
control a system. Large switches may be remotely operated by a
motor drive mechanism. Some switches are used to isolate electric
power from a system, providing a visible point of isolation that can
be padlocked if necessary to prevent accidental operation of a
machine during maintenance, or to prevent electric shock.

xlv

2.17 Diode
In electronics, a diode is a two-terminal electronic component with
asymmetric conductance;
it
has
low
(ideally
zero) resistance to current in
one
direction,
and
high
(ideally infinite) resistance in the other. A semiconductor diode,
the most common type today, is a crystalline piece
of semiconductor material with a pn junction connected to two
electrical terminals.[5] A vacuum tube diode has two electrodes,
a plate(anode) and a heated cathode.Most diodes are made
of silicon,
but
other
semiconductors
such
asselenium or germanium are sometimes used

Fig 20. Diode

The most common function of a diode is to allow an electric

current
to
pass
in
one
direction
(called
the
diode's forward direction), while blocking current in the opposite
direction (the reverse direction).
Semiconductor diodes begin conducting electricity only if a certain
threshold voltage or cut-in voltage is present in the forward
direction (a state in which the diode is said to be forwardbiased).For example, diodes are used to regulate voltage (Zener
diodes), to protect circuits from high voltage surges (avalanche
diodes), to electronically tune radio and TV receivers (varactor
diodes),
to
generate radio-frequency oscillations (tunnel
diodes, Gunn diodes, IMPATT diodes), and to produce light (lightemitting diodes).

xlvi

CHAPTER 3
CIRCUIT DIAGRAM & CODING

3.1: SCHEMATIC DIAGRAM

Transmitter Circuit Diagram :-

Fig 1-Transmitter

xlvii

Receiver and Microcontroller Interfacing:

Fig.2 Reciever

xlviii

3.2 Process to make Hand Glove Circuit : First buy a Velostat sheet. Cut the sheet in 4 sections according
to your fingers length. Now sandwich a wire inside all 4 sheet.
Now connect one side of each sheet to 5V supply and another
side of each sheet to the comparator.
Now paste this circuit on a hand glove on fingers with black tap.
Now make the circuits of transmitter and receiver according to
circuit diagrams.

xlix

Setting the variable resistors :

We mount four variable resistors on transmitter. We have to set
the range of resistors for better sensitivity. Follow the steps :

Now check the output from hand glove from any finger
when finger not turned with help of multimeter.

Let the output is 3 volts when finger not turned.

Now turned that finger and check the output let it will be 1
volt.

Then set the variable resistor of that connection in LM324

between 3 volt and 1 volt. Let we set it on 1 volt.

Repeat the above steps for all the fingers and resistors.

Now on LM324 at positive input 1.5 volt is given ant

negative input 3 volt is coming from glove circuit so the output
will be initially high.

Now turn the finger and at negative input the voltage

becomes 1 volt which is less than 1.5 volt on positive input. So
output becomes low.

This change in output is now encoded by the encoder and

decoded by the decoder then processed from microcontroller and
drives the motors.

3.3 Components Required:-1. 10K OHM VARIABLE RESISTANCE

2. 330 0HM RESISTANCE
3. 10K OHM RESISTANCE
4. 1N047DIODE
5. 33pF CAPACITOR
6. 10F CAPACITOR
7.
100F CAPACITOR
8.
1000F CAPACITOR
9. 11.0592 MHZ CRYSTAL OSCILLATOR
10. RED LED
11. GREEN LED
12. 12 VOLT BATTERY UPTO 1.5 AMP
13. 89c51 MICROCONTROLLER
14. PUSH BUTTON
15. L293D IC
16. LM324 IC
17. HT12E IC
18. HT12D IC
19. RF TRANSRECEIVER MODULE
20. 100 RPM 12V DC MOTORS
21. 7805 IC
22. HAND GLOVE RIGHT HAND
23. VELOSTAT MATERIAL SHEET
24. BLACK TAP ROLL
25. GENRAL PURPOSE PCB
26. MALE AND FEMALE CONNECTORS LINES
27. CONNECTING WIRES.

li

3.4 CODE FOR RECEIVER MICROCONTROLLER:

#include<reg51.h>
void main()
{
P1=0x0f;
P2=0x00;
while(1)
{
if(P1==0x07)
{
P2=0x0a;
}
else if(P1==0x0b)
{
P2=0x02;
}
else if(P1==0x0d)
{
P2=0x05;
}
else if(P1==0x0e)
{
P2=0x04;
}
else
{
P2=0x00;
}}}

lii

CHAPTER 4
ADVANTAGES
Quality:
Robotic arms have the capacity to dramatically improve product
quality. Applications are performed with precision and high
repeatability every time. This level of consistency can be hard to
achieve any other way.
Production:
With robotic arms, throughput speeds increase, which directly
impacts production. Because it has the ability to work at a constant
speed without pausing for breaks, sleep, vacations, it has the
potential to produce more than a human worker.
Safety:
Robotic arms increase workplace safety. Workers are moved to
supervisory roles where they no longer have to perform dangerous
applications in hazardous settings.
Savings:
Improved worker safety leads to financial savings. There are fewer
healthcare and insurance concerns for employers. Automated
robotic arms also offer untiring performance which saves valuable
time. Their movements are always exact, minimizing material
waste.

liii

 A medical benefit:
The benefits are improved accuracy, efficiency, and the quality of
patient care. "NeuroArm" uses miniaturized tools such as laser
scalpels with pinpoint accuracy and it can also perform soft tissue
manipulation, needle insertion, suturing, and cauterization.

IncludeS servicing nuclear power stations, welding and repairing

pipelines on the ocean floor, remote servicing of utility power
lines, or cleaning up radioactive and other hazardous wastes.

Advanced Robotic Arm

Advanced robotic arms that are designed like the human hand itself
can easily controlled using hand gestures only.
The ARM controller will wear the sensor gloves and the robotic
arm will MIMIC the movement of the controller.
Advanced robotic arms like these can perform complex and
hazardous tasks with ease.
Also applicable in Field of Defence & Research.

liv

CHAPTER 5

FUTURE USE
In future we can design a wireless robot which can sense hand
gesture by using wireless
technologies.
It can be used in military applications as a robotic vehicle which
can be handled by a soldier to
avoid casualties.
Our system has shown the possibility that interaction with
machines through gestures is a feasible task and the set of detected
gestures could be enhanced to more commands by implementing a
more complex model of a advanced vehicle for not only in limited
space while also in broader
area as in the roads too .
In the future, service robot executing many different tasks from
private movement to a full-fledged advanced automotive that can
make disabled to able in all sense.

lv

CHAPTER 6
CONCLUSION
Robotic arms are becoming increasingly popular in several fields
such as industrial automation, medical applications such as remote
key-hole surgeries and military applications because of its
preciseness and accuracy. In certain critical applications such as
performing surgeries or diffusing a bomb, robotic arms could be of
tremendous use to save lives. In such applications, controlling the
robotic arm precisely is of utmost importance.
The objectives of this project has been achieved which was
developing the hardware and software for a gesture based robotic
arm. From observation that has been made, it clearly shows that its
movement is precise, accurate, and is easy to control and user
friendly to use. The robotic arm has been developed successfully as
the movement of the robot can be controlled precisely. This robotic
arm control method is expected to overcome the problem such as
placing or picking object that away from the user, pick and place
hazardous object in a very fast and easy manner.

lvi

GLIMPSES OF PROJECT

TRANSMITER

lvii

RECEIVER

REFERENCES
Gesture Controlled Robot PPT
<http://seminarprojects.com/s/hand-gesture-controlled-robot-ppt>
Gesture Controlled Tank Toy User Guide
<http://www.slideshare.net/neeraj18290/wireless-gesturecontrolled- tank-toy-transmitter>
Embedded Systems Guide (2002)
<http://www.webstatschecker.com/stats/keyword/a_hand_gesture_
based_control_interface_for_a
_car_robot>
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
>
Real-Time Robotic Hand Control Using Hand Gestures by
Jagdish Lal Raheja, Radhey
Shyam, G. Arun Rajsekhar and P. Bhanu Prasad
Hand Gesture Controlled Robot by Bhosale Prasad S., Bunage
Yogesh B. and Shinde
Swapnil V.
<http://www.robotplatform.com/howto/L293/motor_driver_1.html
< http://en.wikipedia.org/wiki/Gesture_interface>
< http://www.wisegeek.com/what-is-a-gear-motor.htm>
<http://www.scribd.com/doc/98400320/InTech-Real-TimeRobotic-Hand-Control-UsingHand-Gestures>
< http://en.wikipedia.org/wiki/DC_motor>
<http://www.instructables.com/id/Handgesture-controlled-robotwith-robotic-arm/>
lviii