ROBOTIC ARM MOVEMENT SYSTEM BASED ON FINGER AND PALM GESTURE RECOGNITION USING WIRED AND WIRELESS COMMUNICATION

• Main Author: Naufal Fadhilah, Muhammad
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/81603
• Institution: Institut Teknologi Bandung

This research aims to create a robotic arm based on real-time hand detection using Python, which can be controlled both wired and wirelessly. The specific robot used is the Acrylic Robot 4-Dof Mechanical Arm, with servo motors as actuators. The sensor used to move the robot arm's joints is the hand landmarks, which are the positions of finger joints in image coordinates, to move the arm segments, and palm information (an array of five binary numbers where each value represents whether a particular finger is raised or not) for shoulder rotation and gripper control. For data communication between the sensor and the actuator, serial communication and the MQTT (Message Queuing Telemetry Transport) protocol are used. The expected outcomes of this research include the robot's performance characteristics such as speed, load, maximum and minimum angles, as well as an analysis of the communication integration between software and hardware to optimize the robot arm's performance. This research is expected to provide insights into the capabilities and limitations of the implemented system and pave the way for further development.