Published March 27, 2015

Control robotic arm with gloves and Android Phone

Full instructions provided9,069

Things used in this project

Hardware components

Android device

1Sheeld

6 DOF Robotic Arm

Android Smart phone

Story

Actually, this project based on another project I have build before. Yet, Instead of building the robotic arm and using Arduino, I used my friend 6DOF robotic arm and Intel Galileo.

Step 1: Components

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1- Intel Galileo Gen 2

2- 1Sheeld

3- 6 DOF Robotic Arm.

4- Android Smart phone.

Step 2: Arduino Sketch and Mobile Application

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First, we have to download the 1Sheeld application from Play Store.

Then, download the 1Sheeld library and place it in the Arduino libraries directory. If, It is your first time to deal with 1Sheeld, you should see this getting started tutorial at first.

You will find the code below, it is so easy. Actually, the code simply gets the values of the orientation sensor from the mobile for the 3 directions (x,y,z) and map then on the servos and use the proximity sensor to open and close the gripper.

Code

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#include  <Servo.h>
#include <OneSheeld.h>
Servo myservo1;
Servo myservo2;
Servo myservo5;
Servo myservo6;
void setup() 
{ 
  OneSheeld.begin();
  myservo1.attach(3);
  myservo1.write(0);
  myservo2.attach(5);
  myservo2.write(0);
  myservo5.attach(10);
  myservo5.write(70);
  myservo6.attach(11);
  myservo6.write(10);
  analogWrite(6, 200);
  analogWrite(9, 200);
} 
void loop() {
  if (ProximitySensor.getValue() > 0)
    myservo6.write(10);
  else 
    myservo6.write(120);
  if(OrientationSensor.getX() > 0 && OrientationSensor.getX() <= 180)
    myservo1.write(map(abs(OrientationSensor.getX()),0,180,180,0));   
  if(OrientationSensor.getY() < -90 && OrientationSensor.getY() >= -180)
  myservo2.write(map(abs(OrientationSensor.getY()),180,90,0,90));
  if(OrientationSensor.getZ() > 0 &&  abs(OrientationSensor.getZ()) <= 60)
    myservo5.write(map(OrientationSensor.getZ(),0,60,70,180));   
  if(OrientationSensor.getZ() < 0 &&  abs(OrientationSensor.getZ()) <= 60)
    myservo5.write(map(abs(OrientationSensor.getZ()),0,60,70,0));
  OneSheeld.processInput();
}

Step 3: Test

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After uploading the code on Intel Galileo and installing the mobile applications. Open the mobile application and scan for 1Sheeld via bluetooth and connect to the shield.

Choose the orientation and proximity shields, and then test.

code.txt

#include  <Servo.h>
#include <OneSheeld.h>
Servo myservo1;
Servo myservo2;
Servo myservo5;
Servo myservo6;
void setup() 
{ 
  OneSheeld.begin();
  myservo1.attach(3);
  myservo1.write(0);
  myservo2.attach(5);
  myservo2.write(0);
  myservo5.attach(10);
  myservo5.write(70);
  myservo6.attach(11);
  myservo6.write(10);
  analogWrite(6, 200);
  analogWrite(9, 200);
} 
void loop() {
  if (ProximitySensor.getValue() > 0)
    myservo6.write(10);
  else 
    myservo6.write(120);
  if(OrientationSensor.getX() > 0 && OrientationSensor.getX() <= 180)
    myservo1.write(map(abs(OrientationSensor.getX()),0,180,180,0));   
  if(OrientationSensor.getY() < -90 && OrientationSensor.getY() >= -180)
  myservo2.write(map(abs(OrientationSensor.getY()),180,90,0,90));
  if(OrientationSensor.getZ() > 0 &&  abs(OrientationSensor.getZ()) <= 60)
    myservo5.write(map(OrientationSensor.getZ(),0,60,70,180));   
  if(OrientationSensor.getZ() < 0 &&  abs(OrientationSensor.getZ()) <= 60)
    myservo5.write(map(abs(OrientationSensor.getZ()),0,60,70,0));
  OneSheeld.processInput();
}