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International Journal of Advanced Engineering Science and Technological Research (IJAESTR) ISSN: 2321-1202, www.aestjournal.org @2015 All rights reserved.

154

Speech Recognition Based Robotic Arm with Six Degrees of Freedom

Farooq Ahmad Tantray

1

,Mrs. Shimmi S L

2

, Dr. Lini Mathew

3

, Department of Electrical Engineering,

National Institute of Technical Teachers Training And Research Chandigarh Punjab university

farooqkgp@gmail.com

Abstract--This paper is to describe an intelligent robotic arm for handicapped person using voice technology. Speech is one of the natural forms of communication. The aim of the project is to give the facility to the handicapped or disabled people who are not able to move their arm or have lost their upper limb in war or accident. Speech recognition technology makes the control of arm easier as voice is used to control it, using voice recognition module, microphone and microcontroller . Speech recognition module is trained with certain command which the user wants the circuit to recognise with the help of a microphone which is interfaced with voice module to enable voice based recognition. The movement of arm at joints is achieved using motors at joint locations whose speed is controlled by voice commands of user.

Index Terms— speech Recognition System, Degree of freedom,(DOF)

.

I. INTRODUCTION

Today’s world comprises of a large variety of people. Some of them depend on others for their living. But in today’s fast world, everyone is busy and there are less people to care for the increasing number of elderly and the physically challenged people. Robotic arms are expected to become increasingly important tools for supporting persons with disabled upper limbs in their daily life activities. Recently, several assistive robotic arms have been developed that are small and functional enough to be installed on a wheelchair and/or on a bed If persons with upper limb disabilities were to have access to robotic arms that provide degrees of flexibility similar to healthy arms and hands, they could perform numerous daily life activities by themselves, such as drinking, eating, reading books and letters, operating cell phones, etc. – all of which would normally require the assistance of another person. In such situations, the robotic arms would provide more freedom and independence to disabled users and thus improve their quality of

life. There is much option to interface with robotic arm like voice, direction of face, eye gaze, Electromyogram (EMG) signal from neck muscle, eye-control method based on electrooculography (EOG) etc. But sometime the movement of face and eye are happened unconsciously. Also to acquire EMG Or EOG is a cumbersome process.

On the other hand voice is a natural medium of communication so here we pick it as interface medium. Practically speech application improved production rate and change the way of our daily life experience.

II. System Model

Figure 1.1

III. WORKING

Speech recognition module is trained with certain command with the help of a microphone and a keypad. This module generates a code for each voice command. The generated codes are applied to controller module which generates the operating signal for a particular joint (motor) .The microcontroller is programmed, process the

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International Journal of Advanced Engineering Science and Technological Research (IJAESTR) ISSN: 2321-1202, www.aestjournal.org @2015 All rights reserved.

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commands and generate an activation signal at a particular output port Voice recognition module is interfaced with microcontroller The output generated signals of microcontroller are supplied to the a particular joint (motor) through a driver IC.

The driver IC operates the motor using separate dc source. It also changes the direction of the rotation of motor depending upon the enable signal.

IV. HARDWARE DESCRIPTION A. Microphone:

Microphones are a type of transducer - a device which converts energy from one form to another.

Microphones convert acoustical energy (sound waves) into electrical energy (the audio signal).

Different types of microphone have different ways of converting energy but they all share one thing in common: The diaphragm. This is a thin piece of material (such as paper, plastic or aluminium) which vibrates when it is struck by sound waves. In a typical hand-held mic like the one below, the diaphragm is located in the head of the microphone.

Figure 1.2

When the diaphragm vibrates, it causes other components in the microphone to vibrate. These vibrations are converted into an electrical current which becomes the audio signal.

B. Speech Recognition System

For modern human system interaction, traditional methods based on keyboard and mouse use do not prove sufficient especially when thinking about the poor and ill qualified citizens of information society. We must try to find out the easiest and

most comfortable method for human system interaction. The optimal method for communication process going on from man to machine is (should be) speech communication. The speech recognition system is a completely assembled and easy to use programmable speech recognition circuit.

Programmable, in the sense that you train the

words (or vocal utterances) you want the circuit to recognize. This board allows you to experiment with many facets of speech recognition technology.

It has 8 bit data out which can be interfaced with any microcontroller for further development. Some of interfacing applications which can be made are controlling home appliances, robotics movements, speech assisted technologies, speech to text translation and many more. Automatic speech recognition (ASR) technology has been successfully applied to consumer electronics devices, such as home robot, car navigation system and automatic sound recognition system for the hearing impaired.

Figure1.3Voice Recognition Module Specification

Input Voltage - 9 to 15 V dc, Use a commonly available 12V 500ma dc Adapter.

Output Data - 8 bits at 5V logic level Interface - Any microcontroller like 8051, PIC or AVR can be interfaced to data port to interpret.

C. Arduino Microcontroller Board

Arduino is small computer that can be programmed to process inputs and outputs between the device and external components that can be attached to it.

Arduino, also known as embedded computing platforms, means that it is an interactive system that can be used to interact with the environment with the help of hardware and software.

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International Journal of Advanced Engineering Science and Technological Research (IJAESTR) ISSN: 2321-1202, www.aestjournal.org @2015 All rights reserved.

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Figure 1.4 Arduino Uno

Arduino board has 14 digital input/output pins; out of which 6 can be used as PWM outputs 6 analog inputs. Moreover Arduino board has a 16 MHz ceramic resonator, USB connector, power jack, ICSP header, and a reset button. The board itself contains all the features needed to support the microcontroller. Simply connect it to a computer with a USB cable or power it with a ac to dc adapter or battery to get started.

For example we can attach a led with the Arduino and programme it to blink for 30 seconds. We can enhance this concept to by connecting a temperature sensor, to turn on the led, when temperature reaches to 30 C.

D. Dc Motors

A DC motor in simple words is a transducer that converts direct current(electrical energy) into mechanical energy. It’s of vital importance for the industry today. The dc motors are used provide necessary movement to the joints of the arm. The joint to be moved, a particular dc motor is given the activation signal through the controller (Arduino).

The equation of torque is given by, Ʈ=FRsinƟ --- (1)

Where

F is force in linear direction (newton) R is radius of the object being rotated (cm)

θ is the angle, the force F is making with R vector (degree)

Fig. 1.5 Dc Motor E. Motor Selection

While selecting a dc motor, the following features need to be taken care,

Load Bearing Capacity this is the turning torque of the motor and is measured in kg.cm. If the expected load is higher than the motor’s rating , it would heat up very quickly when in use and will soon breakdown. This is very common cause of motor failure. For example, if your project requires 3 kg.cm force, then choose a unit that gives 6 kg.cm force. This would prevent motor failure in the event of the mechanism becoming jammed, which is quit common in development stages.

Speed of the motor, Motor speed is measured in rpm. In applications where speed is an important factor , it would have to be reduced by a series of gears. Some motors are sold with gear box with user-selectable ratios. These allow the user to select the gear ratio by interchanging the positions of the gears to arrive at a suitable speed for the output shaft. Further speed refinement can be done with an electronic speed controller.

F. Dc Motor Control

Some kind of control circuit is required if you need the motor to do more than just spinning. An example is when a motor is used to slide a tray open and close. The motor will need to turn in one direction to open the tray and stop. This is followed by turning in the opposite direction to close the tray. The control circuit would have to accept a signal to turn the motor in one direction and reverse it when a second signal is received to close the tray.

The example cited above is relatively easy. It can be accomplished by means of some switched connected together. For more complicated movements, an intelligent controller would be required . These may include movements that return the output shaft to the original position or one that requires several stops in one revelution.

G. L293D IC

The L293D motor driver is available for providing user with ease and user friendly interfacing for embedded application. L293D motor driver is mounted on a good quality, single sided non-PTH PCB. The pins of L293D motor driver IC are connected to connectors for easy access to the driver IC’s pin functions. The L293D is a dual full bridge driver that can drive up to 1Amp per bridge with supply voltage up to 24V. It can drive two DC

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International Journal of Advanced Engineering Science and Technological Research (IJAESTR) ISSN: 2321-1202, www.aestjournal.org @2015 All rights reserved.

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motors, relays, solenoids, etc. The device is TTL compatible. Two H bridges of L293D can be connected in parallel to increase its current capacity to 2 Amp.

Fig. 1.7 shows the driver Ic in the form of a module with terminal blocks and connectors to make it easy to connect with the circuit.

Fig. 1.6 L293D Driver IC

V. ADVANTAGES

The robotic arm possesses 6 degrees of freedom such that the disabled person can pick and drop, drink etc.

The arm will move as per the voice commands of the operator.

Using an Arduino simplifies the amount of hardware and software development you need to do in order to get a system running.

VI. CONCLUSION AND FUTURE SCOPE Robotic arms would provide more freedom and independence to disabled users and thus improve their quality of life (QOL). , they could perform numerous daily life activities by themselves, such as drinking, eating, reading books and letters, operating cell phones, etc. – all of which would normally require the assistance of another person.

Speech recognition module can be applied to design other rehabilitation devices like virtual eye,

wheel chair etc which helps to reduce the degree of disability of people with disability and makes their life easier.

The speech based controllers can be implemented in home appliances which can be operated at a distance with verbal commands without physically touching the device to be operated.

Speech recognition will become the method of choice for controlling appliances, toys, tools and computers. At its most basic level, speech controlled appliances and tools allow the user to perform parallel tasks (i.e. hands and eyes are busy elsewhere) while working with the tool or appliance.

In the time to come, it is anticipated that speech recognition systems will play a major role as man- machine interface to control robots in manufacturing industries, healthcare, entertainment.

REFERENCES

[1]. Puran Singh, Anil Kumar, Mahesh Vashisth “Design of Robotic arm With Gripper and End effecter for spot Welding”, universal journal of mechanical Engineering pp92-96, vol 1 ,2013

[2]. Dhawan s. Thakur and Aaditi Sharma ‘’Voice Recognition wireless Home Automation System Based on Zigbee” IOSR journal of Electronics and Communication Engineering, pp 65-75,May-June 2013

[3]. M.Prathyusha, K.S Roy and Mahboob Ali Shaik

“Voice and Touch Screen Based Direction and Speed Control of Wheel Chair for Physically Challenged Using Arduino”. International journal of Engineering Trends and Technology, pp 1242-1244, vol 4, issue 4 April 2013.

[4]. Mohammed Faeik Ruzaij S.Poonguzhali “Design and Implementation of Low Cost Intelligent Wheelchair”, ICRTIT pp 468-471, 2012

[5]. Sh-Hussain Salleh, Hong Kai Sze, Tan Tian Swee

“Design and Development of Speech-Control Robotic Manipulator Arm” Seventh International Conference on Control, Automation, Roboiies And Vision (ICARCV’OZ),pp 324-355, Dec 2002, Siogapare

[6]. Soo-Chul Lim, Kyoobin Lee and Dong-Soo Kwon .

“Design Of Intelligent Robotic Arm For Visually Challenged” Proceedings of the 2010 IEEE Students' Technology Symposium, pp 49-52, 3-4 April 2010, lIT Kharagpur

[7]. Jamshed Iqbal, Raza ul Islam, and Hamza Khan “ Modeling and Analysis of a 6 DOF Robotic Arm Manipulator’’ Canadian Journal on Electrical and Electronics Engineering , pp 300-306 ,Vol. 3, No. 6, July 2012

[8]. Vishnu Prabhu S and Dr. Soman K.P ‘’Voice Interfaced Arduino Robotic Arm for Object Detection and Classification’’ International Journal

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International Journal of Advanced Engineering Science and Technological Research (IJAESTR) ISSN: 2321-1202, www.aestjournal.org @2015 All rights reserved.

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of Scientific and Engineering Research, Volume 4, Issue 7, pp 445-449,2010

[9]. Ryszard Tadeusiewicz . “Speech in Human system Interaction”. In this paper some general remarks about the how speech human system interaction are presented and some problems connected with this activity are described, pp 2-13 May 13-15,2010

[10]. Mr. Sangmeshwar , S Kendre and Prof. S.D Apte

“Voice Controlled Robot using Open Source Hardware Platform Beagleboard” international journal of recent trends in Engineering and Technology, pp 101-105 vol 4,No.4, Nov. 2010.

References

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