Accelerometer Controlled Robot

Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun
ACCELEROMETER CONTROLLED ROBOT
SUBMITTED BY:
Mr.Abhishek kuumar choudhary

Mr. Mohit keshav
Mr. Nitesh singh bisht
Mr. Rohit khanna
Mr. Siddique akbar
SUPERVISOR:
Dr. ATUL SIDOLA
Via Prem Nagar P.O Bodholi

Dehradun -248007 Uttrakhand
CERTIFICATE
This is to certify that,
Mr. Abhishek kumar choudhary

Mr. Mohit keshav
Mr. Nitesh singh bisht
Mr. siddique akbar
Mr. Rohit khanna
Students of UNIVERSITY OF PETROLEUM AND ENERGY STUDIES have done a

Project ACCELEROMETER CONTROLLED ROBOT under my guidance. This
work is done to my satisfy action under requirement of PRE FINAL YEAR PROJECT
for academic year 2012 -2013.
ACKNOWLEDGEMENT
We have a great pleasure in presenting this project report on ACCELEROMETER
CONTROLLED ROBOT and to express our deep regard to towards those who have offered their valuable
time & guidance in my hour of need.
Firstly we express our sincere gratitude to Mentor, the guide of the project who carefully and
patiently leant his valuable time and effort to give directions as well as to correct various documents with
attention and care. It is a great honor to do this project in this esteemed institution, and we would extend
our thanks to
Dr. ATUL SIDOLA, member of Mechanical Dept., who have shared their vast knowledge
and experience during our stay.
We do also like to appreciate the consideration of the Project Coordinator, our Faculties and
colleagues, which enabled us to balance our work along with this project. It was their attitude that inspired
us to do such an efficient and apposite work.
We wish to avail this opportunity to express a sense of gratitude and love to all our friends and our family
for their unwavering support, strength, help and in short for everything they have done during the crucial
times of the progress of our project.
ABSTRACT
Now a day, Robots are controlled by remote or cell phone or keyboard etc. If we think 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 require any type of type
of complex keys or joysticks. It is a robot which is controlled by accelerometer, which drives itself according
to position of accelerometer. Hardware required is very small, and hence low cost and small in size.
TABLE OF CONTENTS
Certificate..2
Acknowledgement...3
Abstract ..4
Table of Contents..6
Chapter-1: Introduction...8
Chapter-2: Literature Review..11
Chapter-3: Problem Definition28
Chapter-4: Model Construction and Solution..29
Chapter-5: Program used...30
Chapter-6: Applications.37
Chapter-6: Conclusions and Recommendations for future work39
References
Appendices
Appendix-A.41
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 robots are available that are controlled by remote or cell phone or keyboard
connection. But limitations of these robots are that they are much more complex and difficult for a new comer
to learn. More over their cost are high even for low application activities. So we decided to design a robot
that doesnt require any type of remote or joystick. It should be controlled by the accelerometer which will be
driving itself according to position of it. Hardware required is very small, and hence low cost and small in
size
This robot consists of mainly three parts. First is sensor, which works as vision of robot. We
have used accelerometer that act as sensor for our robot.
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 IC(HT12E) which is use to
encode the four bit data and then it will transmit by an RF Transmitter module.
At the receiving end RF Receiver modules receives the encoded data and decode it by a decoder IC (HT12D).
This data is then processed by a microcontroller (P89V51RD2) and finally our motor driver to control the
motors.
As user makes movements of his hand in front of it, it senses and according to that it sends the
signal for decision. Output from accelerometer is gathered for process by microcontroller.
6
As per sensor output, the controller is made to work according to the program written inside it and it
sends the respective signal to third part which is motors. This is the last part which drives the wheel of our
Robot. It uses two dc motors to make movement. To drive them one motor driver is IC used which
provides sufficient current to motors. All this material is mounted on metal chassis. As we move our hand
to right robot will move to right side. Similar to this it will copy all our movements.
LITERARURE REVIEW
1) Accelerometer ADXL335
Small,
Low Power,
3-Axis 3 g Accelerometer
What is an accelerometer?
An accelerometer is an electromechanical device that will measure acceleration forces. These forces
may be static, like the constant force of gravity pulling at your feet, or they could be dynamic - caused by
moving or vibrating the accelerometer.
What are accelerometers useful for?

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
analyze 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 or is it dive bombing your professor? A
good programmer can write code to answer all of these questions using the data provided by an
accelerometer.
How do accelerometers work?

There are many different ways to make an accelerometer! Some accelerometers use the piezoelectric
effect - they contain microscopic crystal structures that get stressed by accelerative forces, which cause a
voltage to be generated. Another way to do it is by sensing changes in capacitance. 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
Types of 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
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 dissipates less power, and can have larger bandwidths
due to internal feedback circuitry. (Elwenspoek 1993)
Piezoelectric
Piezoelectric sensing of acceleration is natural, as acceleration is directly proportional to force. When

certain types of crystal are compressed, charges of opposite 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.
9
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)
Piezo-film based accelerometers are best used to measure AC phenomenon such as vibration or shock,
rather than DC phenomenon such as the acceleration of gravity. They are inexpensive, and respond to other
phenomenon such as temperature, sound, and pressure (Doscher 2005)
Other
There are many other types of accelerometer that are less important to musical applications,
including:
Piezoresistive
Thermal
Null-balance
Servo
force
balance
Strain gauge
Resonance
Magnetic
induction
Optical
Surface acoustic wave (SAW)
10
Specifications
A typical accelerometer has the following basic specifications:
Analog/digital
Number of axes
Output range (maximum swing)

Sensitivity (voltage output per g)
Bandwidth
Amplitude stability
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.
11
ADXL335
Figure -1 Accelerometer ADXL335
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 there are some arrows showing if we tilt these sensors in that direction then the
data at that corresponding pin will change in the analog form
12
The Accelerometer having 6 pins-
1- VDD- We will give the +5volt to this pin
2- GND- We simply connects this pin to the ground for biasing.
3- X- On this pin we will receive the analog data for x direction movement. 4Y- On this pin we will receive the analog data for y direction movement. 5- ZOn this pin we will receive the analog data for z direction movement.
6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.
13
THEORY OF OPERATION
The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a
measurement range of 3 g minimum. It contains poly-silicon surface micro machined sensor and signal
conditioning circuitry to implement 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.
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.
14
FEATURES:
3 axis sensing small, low profile package
4mm x 4mm x 1.45mm LFCSP low power: 350uA (typical)
Single operation: 1.8v to 3.6v 10,000g shock survival
Excellent temperature stability BW adjustment with a single capacitor per axis

RoHS/WEEE lead-free complement
ACCELEROMETER ADXL 335
Figure -2 Pin dia. Of ADXL 335
15
Pin Function Descriptions
Pin No.
Mnemonic
Description
NC
No Connect.1
ST
Self-Test.
COM
Common.
NC
No Connect.1
COM
Common.
COM
Common.
COM
Common.
ZOUT
Z Channel Output.
NC
No Connect.1
10
YOUT
Y Channel Output.
11
NC
No Connect. 1
12
XOUT
X Channel Output.
13
NC
No Connect. 1
14
VS
Supply Voltage (1.8 V to 3.6 V).
15
VS
Supply Voltage (1.8 V to 3.6 V).
16
NC
No Connect. 1
EP
Exposed Pad
Not internally connected. Solder for

Mechanical integrity.
16
MICROCONTROLLER (ATMEGA 16)
Pin Diagram:
FIGURE -3 AVR AT mega16
17
FEATURES
High-performance, Low-power Atmel AVR 8-bit Microcontroller
Advanced RISC Architecture
131 Powerful Instructions Most Single-clock Cycle Execution
32 x 8 General Purpose Working Registers
Fully Static Operation
Up to 16 MIPS Throughput at 16 MHz
On-chip 2-cycle Multiplier
High Endurance Non-volatile Memory segments
16 Kbytes of In-System Self-programmable Flash program memory
512 Bytes EEPROM
1 Kbyte Internal SRAM
Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
Data retention: 20 years at 85C/100 years at 25C (1)
Optional Boot Code Section with Independent Lock Bits InSystem Programming by On-chip Boot Program
True Read-While-Write Operation
Programming Lock for Software Security
JTAG (IEEE std. 1149.1 Compliant) Interface
Boundary-scan Capabilities According to the JTAG Standard
Extensive On-chip Debug Support
Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
18
Peripheral Features
Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
Real Time Counter with Separate Oscillator
Four PWM Channels
8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10 xs, or 200 xs
Byte-oriented Two-wire Serial Interface
Programmable Serial USART
Master/Slave SPI Serial Interface
Programmable Watchdog Timer with Separate On-chip Oscillator
On-chip Analog Comparator
Special Microcontroller Features
Power-on Reset and Programmable Brown-out Detection
Internal Calibrated RC Oscillator
External and Internal Interrupt Sources
Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and
Extended Standby
19
I/O and Packages

32 Programmable I/O Lines
40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
Operating Voltages
2.7V - 5.5V for ATmega16L

4.5V - 5.5V for ATmega16
Speed Grades
0 - 8 MHz for ATmega16L
0 - 16 MHz for ATmega16
Power Consumption @ 1 MHz, 3V, and 25C for ATmega16L
Active: 1.1 mA
Idle Mode: 0.35 mA
Power-down Mode: < 1 A
20
2x16 LCD DISPLAY
Figure 4 A typical LCD

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)
21
Description
This is an LCD Display designed for E-blocks. It is a 16 character, 2-line 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 Multiprogrammer 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.
22
MOTOR DRIVER IC L293D
L293D
MOTOR
DRIVER IC
FIGURE 5 Motor Driver L293D
23
FEATURES
-Output 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
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.
24
Battery
We use 9 volt 3 amp 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
to room-size battery banks that serve as backup power supplies in telephone exchanges and computer data
centers.
25
SOFTWARE
SOFTWARE USED:
1) AVR STUDIO
It is most commonly used compiler software. It allows to do programming in c and compiling as well. It
supports the all AVR families
Figure 6 AVR studio 4
26
2) PROTEUS
Proteus is simulation software used for various electronic circuit. It contain large library of
electronic component. We have designed of circuit using this library. We have simulated our circuit in
proteus. We use hex file created by AVR studio for simulation. And finally we got our result .
Figure 6 Proteus
27
PROBLEM DEFINITIONS
Problem 1)
SUPPLY VOLTAGE
We did the direct connection with IC 7805.
Problem 2)
CALIBRATION OF ACCELEROMETER
Problem 3)
DISPLAY WITH LCD
By changing the pins, we solve the problem.
28
WORKING MODEL
Figure -7 working model (complete)
29
PROGRAM
#define F_CPU 1000000UL

#include<avr/io.h>
#include<util/delay.h>
#define RS PD2
#define RW PD3
#define EN PD5
#define DATA PORTB
void lcd_init();
void lcd_cmd(char);
void lcd_data(char);
void digicount(unsigned int);
void adc_init();
int adc_read(unsigned char);
void lcd_string(char *str);
int main()
{
DDRA=0x00;
DDRB=0xF0;
DDRD=0xFF;
DDRC=0xFF;
int x,y,z;
lcd_init();
adc_init();
lcd_cmd(0x01);
30
lcd_string("MINOR PROJECT");
_delay_ms(500);
lcd_cmd(0x01);
lcd_string("MECHATRONICS");
_delay_ms(500);
while(1)
{
//// value of x
PORTA=0b00000010; //A06
x =adc_read(1);
_delay_ms(100);
PORTA=0b00000100; //A05
y =adc_read(2);
_delay_ms(100);
PORTA=0b00001000; //A05
z =adc_read(3);
_delay_ms(100);
if ((x>380)&&(x<420)&&(y>380)&&(y<425)&&(z>430)&&(z<480))
//stand
{
PORTC=0b00000000;
lcd_cmd(0x01);
lcd_string("STOP");
_delay_ms(200);
}
31
if ((x>430)&&(x<490)&&(y>375)&&(y<430)&&(z>390)&&(z<435)) //right
{
PORTC=0b00001001;
lcd_cmd(0x01);
lcd_string("RIGHT");
_delay_ms(200);
if ((x>310)&&(x<350)&&(y>370)&&(y<425)&&(z>375)&&(z<420)) //left
{
PORTC=0b00000110;
lcd_cmd(0x01);
lcd_string("LEFT");
_delay_ms(200);
if ((x>380)&&(x<440)&&(y>445)&&(y<4490)&&(z>385)&&(z<440)) //forward
{
PORTC=0b00001010;
lcd_cmd(0x01);
lcd_string("FORWARD");
_delay_ms(200);
}
if ((x>360)&&(x<420)&&(y>310)&&(y<370)&&(z>350)&&(z<410)) //reverse
{
32
PORTC=0b00000101;
lcd_cmd(0x01);
lcd_string("REVERSE");
_delay_ms(200);
}
return 0;
void lcd_init()
{
lcd_cmd(0x02);
// Home Postition
lcd_cmd(0x28);
// Scroll display 1 char right
lcd_cmd(0x06);
// Direction towards right. 0x04 is used for left
lcd_cmd(0x0C);
void lcd_string(char*str) // definig string to be displayed
int i=0;
while (str[i]!='\0')
{
33
lcd_data(str[i]); //for 8 bit mode

i++ ;
}
void digicount(unsigned int x)

{
lcd_cmd(0x04);
unsigned int i;
while(x!=0)
{
i=x%10;
lcd_data(i+48);
x=x/10;
}
lcd_cmd(0x06);
void adc_init()
{
ADMUX=(1<<REFS0)|(1<<REFS1);
ADCSRA=(1<<ADEN)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
}
int adc_read(unsigned char ch)
{
ch=ch&0b00000111;
ADMUX=0x40|ch;
ADCSRA|=(1<<ADSC);
34
while(!(ADCSRA&(1<<ADIF)));
ADCSRA|=(1<<ADIF);
return(ADC);
}
void lcd_cmd(char A)
{
PORTB=A&0xF0;
PORTD&=~(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
// Instruction register selected

// Write mode when RS=0
// Enable LCD
_delay_ms(1);
PORTD&=~(1<<EN);
// Disable LCD
_delay_ms(1);
PORTB=(A<<4)&0xF0;
PORTD&=~(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
void lcd_data(char A)
{
PORTB=A&0xF0;
PORTD|=(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
35
_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
PORTB=(A<<4)&0xF0;
PORTD|=(1<<RS);
PORTD&=~(1<<RW);
PORTD|=(1<<EN);
_delay_ms(1);
PORTD&=~(1<<EN);
_delay_ms(1);
36
APPLICATIONS
1. 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. So in that place of
industry it can be used.
2. Most of the computer games are now using motion detecting remote technology.
3. It is also used in mine
37
FUTURE SCOPE
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 fully-fledged
advanced automotive that can make disabled to able in all sense.
38
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 there 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.
An Accelerometer 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. At the
receiving end an RF Receiver module receives the encoded data and decode it by an decoder.
39
REFERENCES
www.atmel.com
www.alldatasheet.com
www.wikipedia.com
www.google.com
ieeexplore.ieee.org
40
APPENDIX - A
Component list:
Sr. no.
1
Name of component
Microcontroller (ATMEGA16)
Prize(Rs)
220
8- bit
2
Motor driver (L293D)
75
Accelerometer (ADXL335)
1800
Dc motor (9V, 150rpm)
500
2x16 ALPHANUMERIC LCD
115
DISPLAY
6
Crystal
15
Resistor (10k, 1k)
Capacitor (0.1uf, 10uf)
Total
2727.00
41

Accelerometer Controlled Robot

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies, Dehradun