Introduction: Control Robotic Arm With Gloves, Android Phone and Arduino

By

Today, we have almost 2 techniques to play with Robotic Arm, either by buttons for example as on Game shield or using gloves that include sensors. Yet, today I will show you a new technique by using only your Android Phone and Arduino.

Basically, The project illustrate how to send the mobile sensors data via Bluetooth to Arduino using 1Sheeld and then controlling the motion of the servos.

Step 1: Components

1- Arduino Uno (18$)

2- 1Sheeld (60$)

3- Servo X2 (1.8 $)

4- Gripper for Robotic Arm with 2 DOF (2.3$)

5- Any Metallic heavy Base.

6- Any kind of strong adhesive (glue)

7- Android Smart Phone/ Tablet.

Step 2: Arm Fabrication

Actually, I'm don't have too much experience in mechanical things. Yet, I tried as much I could to implement the Arm as shown in figure. Basically, all you have to do firstly is to estimate how much load each servo will carry in order to get the right servo with the required torque.

Step 3: Mobile Application

Basically, All you have to do here is to download 1Sheeld application from Play Store. This Application gets rid of the headache for developing the Android Application. Download the App and 1Sheeld library

Actually,we use Orientation shield, On/Off Button Shield and Gravity shield in this project.

Step 4: Arduino Sketch

As shown below the code is so simple. Actually, any one even who is new in using Arduino can get it.

All we have to declare the pins for 4 PWM for each servo and then map the Value of the sensor from (0 to 180) which are the whole region the servo can rotate. 

#include <OneSheeld.h>
#include <Servo.h>

Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

void setup() 
{ 
  OneSheeld.begin();
  myservo1.attach(3);
  myservo1.write(90);
  myservo2.attach(5);
  myservo2.write(0);
  myservo3.attach(6);
  myservo3.write(180);
  myservo4.attach(9);
  myservo4.write(15);
}

void loop() {

if (ToggleButton.getStatus ())
    myservo2.write(120);
  else 
    myservo2.write(0);

if(OrientationSensor.getZ()>0 && abs(OrientationSensor.getZ())<= 83 && GravitySensor.getZ() > 0)
    myservo1.write(map(OrientationSensor.getZ(),0,90,90,0));   

if(OrientationSensor.getZ()<0&&  abs(OrientationSensor.getZ()) <= 83&& GravitySensor.getZ() > 0)
    myservo1.write(map(abs(OrientationSensor.getZ()),90,0,180,90));   

 if(OrientationSensor.getY() < 0 && OrientationSensor.getY() >= -90 &&  abs(GravitySensor.getZ()) >= 2.5) 
    myservo4.write(map(abs(OrientationSensor.getY()),0,90,15,105));    

if(OrientationSensor.getY() > 0 && OrientationSensor.getY() <= 50 &&  abs(GravitySensor.getZ()) >= 2.5)
    myservo4.write(map(abs(OrientationSensor.getY()),0,50,15,0));

if(OrientationSensor.getX() > 0 && OrientationSensor.getX() <= 180 &&  abs(GravitySensor.getZ()) >= 2.5)
    myservo3.write(map(abs(OrientationSensor.getX()),0,180,180,0));   
}

Step 5: Test

Finally, all you have to do to open 1Sheeld mobile Application, then choose the required shields (Orientation, gravity and Button) .