Mini Project Report on

Both Project titles in capital

By
Ansh Mukesh Kini (27)
Atharva Sharad Wakchure (54)
Jishnu Hareesh Kanachery (60)
Om Vinay Kothavale(62)

Subject: Mini Project – 1B

Under Guidance of:

Dr. Ashish Vanmali

Department of
Electronics & Telecommunication Engineering

Vidyavardhini’s College of Engineering & Technology

University of Mumbai

2024-25

Vidyavardhini’s College of Engineering & Technology

1
 Department of Electronics & Telecommunication Engineering

CERTIFICATE

This is to certify that following students

have submitted mini project report – 1B entitled

Both Project title name

S.E Sem IV Electronics & Telecommunication Engineering

academic year 2024-2025

Internal Guide : Dr. Ashish Vanmali ( )

Internal Examiner : ( )

External Examiner : ( )

Dr. Amrita Ruperee Dr. Harish

HOD, EXTC Vankudre
Principal, VCET

Date:

Place:

2
 Declaration
We declare that this written submission represents our ideas in our own words and
where others' ideas or words have been included, we have adequately cited
and referenced the original sources. We also declare that we have adhered to all
principles of academic honesty and integrity and have not misrepresented
or fabricated or falsified any idea/data/fact/source in our submission. We
understand that any violation of the above will be cause for disciplinary action
by the Institute and can also evoke penal action from the sources which have
thus not been properly cited or from whom proper permission has not been taken
when needed.

Ansh Mukesh Kini (27)

Atharva Sharad Wakchure (54)
Jishnu Hareesh Kanachery (60)
Om Vinay Kothavale(62)

Date:

3
 Acknowledgement
We would like to express our sincere gratitude to all those who have contributed to the
successful completion of this Mini Project 1B.We would like to thank our HOD, Dr Amrita
Ruperee, our Management, our Principal, Dr Rakesh Himte and our respected professor and
project guide Mr. Ashish Vanmali for being there constantly, and for letting us pick this
topic which enabled us to study and learn about Arduino and Raspberry Pi based projects
which otherwise we would have not been able to do .We would like to thank our guide Mr.
Ashish Vanmali for their invaluable guidance, mentorship, expertise and unwavering support
throughout the entire duration of the project. We would also like to extend our heartfelt
thanks to Vidyavardhini’s College of Engineering and Technology for providing the
necessary resources and infrastructure that enabled us to carry out this project.

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 Abstract
This mini project focuses on the development of a multifunctional robotic arm system that can be
controlled using both real-time hand gestures via computer vision and a graphical user interface
(GUI). The system is designed to demonstrate the versatility and adaptability of robotic arm
control using two parallel approaches. The first control method involves a gesture recognition
system powered by OpenCV and MediaPipe in Python, which captures hand gestures through a
webcam. The computer vision model detects hand landmarks, interprets predefined gestures such
as open palm, fist, or directional pointing, and translates these into specific motion commands.
These commands are then sent to an Arduino microcontroller, which actuates multiple servo
motors attached to the robotic arm, enabling it to perform actions like gripping, lifting, and
rotating. This approach provides an intuitive and contactless way to control the arm, enhancing
the human-machine interaction experience.
In addition to gesture control, the project also incorporates a Raspberry Pi Pico-based robotic
arm that is operated through a custom-built graphical user interface (GUI). The GUI, developed
using Python libraries such as Tkinter or PyQt, allows users to manually control each joint of the
robotic arm by interacting with sliders or buttons on the screen. The Raspberry Pi Pico receives
the input from the GUI via USB serial communication or UART, processes it, and generates
PWM signals to drive the servos. This dual-mode control system makes the project highly
flexible — the GUI provides precise manual control and is especially useful for testing or when
gesture input is not feasible, while the gesture mode offers an innovative, hands-free control
method ideal for interactive demos and accessibility-focused applications.
The robotic arm used in both systems typically includes 4 to 6 degrees of freedom (DOF),
allowing a range of human-like movements. The structure is built using lightweight materials
like plastic or aluminum and powered by servo motors such as SG90 or MG996R. The
integration of both gesture recognition and GUI control showcases advanced concepts in
embedded systems, computer vision, electronics, and user interface design. This project finds
potential applications in educational robotics, prosthetics research, assistive technologies,
industrial automation, and remote-controlled operations. Overall, it demonstrates a holistic
approach to robotic arm control by combining real-time gesture tracking with hardware
programming and interactive design.

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 PART A
Mini Project Report on

Gesture Controlled Robotic Arm

Using MediaPipe

6
Content
1 Introduction 4

.
2 Literature Survey 6

.
3 Problem Definition 8

.
4 Proposed Method/ Approach/ Algorithm 9

.
5 Implementation Methodology 10

.
6 Result And Discussion 13

.
7 Conclusion & Future Work 14

.
References 15

7
List Of Figures
4.1 Block Diagram of Arduino-Controlled Robotic Arm – Page 9
5.1 Schematic Diagram of Arduino and Servo Connections – Page 10
5.2.1 Arduino UNO Board – Page 11
5.2.2 Servo Motors (SG90 / MG996R) – Page 11
5.2.3 Power Supply Module (Battery/Adapter) – Page 11
5.2.4 PWM Signal Control Logic – Page 12
5.2.5 Serial Communication (with PC / Raspberry Pi) – Page 12
5.2.6 Arduino IDE and Code – Page 12
6.1 Robotic Arm Response to Serial Commands – Page 13
6.2 Movement Output Based on Gesture or GUI Input – Page 13

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 Chapter 1
Introduction

The Arduino-controlled robotic arm using MediaPipe for gesture recognition is an innovative
project that bridges the fields of computer vision and robotics to create an intuitive and
interactive control system. This project aims to build a smart robotic arm that can be operated
using real-time hand gestures, eliminating the need for traditional remote controls or physical
contact. The core concept revolves around using a webcam to capture the user's hand
movements, which are processed using MediaPipe – a powerful machine learning framework
developed by Google for real-time hand tracking and gesture recognition. The interpreted
gestures are translated into commands that are sent to an Arduino Uno microcontroller, which in
turn drives servo motors to control the joints of the robotic arm.
Gesture-controlled systems are becoming increasingly popular due to their potential in enhancing
human-computer interaction. This project leverages that potential by providing a cost-effective,
responsive, and portable solution for gesture-based robotic control. The use of Arduino for
motion control offers reliability, ease of implementation, and wide community support. The
system architecture consists of a camera module, a computer or Raspberry Pi running the
MediaPipe-based Python script, serial communication with the Arduino, and a multi-DOF
(Degree of Freedom) robotic arm powered by servo motors.
The main motivation behind this project is to develop a hands-free control mechanism for
robotic systems, especially in applications where touch-based control is inconvenient or unsafe
—such as in hazardous environments, assistive robotics for people with disabilities, or
educational platforms for teaching robotics and programming. By integrating vision-based
gesture recognition and embedded hardware control, the project demonstrates a practical and
engaging use of modern technologies in robotics.
This project not only introduces students and enthusiasts to the fields of computer vision,
embedded systems, and mechanical design but also encourages a multidisciplinary approach by
combining software development, hardware interfacing, and real-time system integration. The
result is a user-friendly, gesture-driven robotic arm system that opens doors to more accessible
and advanced human-robot interaction.

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 Chapter 2

Literature Review
In the study by Sachin Kumar and Mahesh Sharma (2022) titled “Hand Gesture Controlled
Robotic Arm Using OpenCV and Arduino”, the authors implemented a low-cost robotic arm that
can be controlled via real-time hand gestures tracked using OpenCV. The system utilized a
webcam to capture hand movements, processed the image using Python, and sent corresponding
commands via serial communication to the Arduino. This paper demonstrated the feasibility and
responsiveness of using vision-based interfaces in robotics without the need for physical
controllers or gloves.
Another relevant paper, “Real-Time Hand Gesture Recognition using MediaPipe and its
Application in Robotic Arm Control” by Ananya S. and Dinesh Kumar (2021), explored the use
of Google’s MediaPipe framework for efficient and lightweight hand tracking. MediaPipe
offered more accurate and stable landmark detection compared to traditional OpenCV-based
contour detection techniques. This improvement allowed for smoother and more reliable control
of servo-driven robotic arms. The authors highlighted MediaPipe's advantages in terms of
computational efficiency, real-time performance, and ease of implementation, making it ideal for
embedded or real-time robotics projects.
A third study by M. Patel and R. Joshi (2020), titled “Arduino-Based Gesture Controlled
Robotic Arm Using Machine Vision,” focused on combining machine vision with embedded
control systems for robotics education. The researchers created a GUI and gesture control hybrid
system for controlling robotic arms. They emphasized the importance of using microcontrollers
like Arduino for servo control due to their real-time responsiveness and ease of use. Their
research suggested that such systems are particularly beneficial in assistive robotics, helping
individuals with mobility impairments perform daily activities with minimal physical effort.
These papers collectively show that gesture-controlled robotic arms, especially those using
MediaPipe, represent a significant advancement in the field of human-machine interaction. The
use of MediaPipe for real-time, markerless hand tracking enhances both the accuracy and user
experience of robotic control systems. Combining this with Arduino's reliable actuation
capabilities results in a powerful, low-cost, and accessible platform for developing educational
tools, assistive devices, and automation systems.

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 Chapter 3
Problem Definition

In today’s rapidly advancing technological landscape, there is an increasing demand for intuitive,
contactless, and efficient methods to control robotic systems, especially in areas such as
prosthetics, assistive technologies, industrial automation, and remote operations. Traditional
robotic control methods often rely on complex hardware interfaces such as joysticks, remote
controls, or specialized wearables, which can be bulky, expensive, or non-intuitive for common
users. Furthermore, these methods may not be accessible to individuals with physical limitations.
Existing gesture recognition systems using hardware like accelerometers or color markers often
face limitations in accuracy, real-time responsiveness, and ease of integration. Additionally,
many such systems require significant computational resources or lack flexibility for
customization and deployment on low-cost platforms.
The problem lies in the absence of a low-cost, vision-based robotic arm control solution that is
easy to implement, responsive in real-time, and flexible enough to adapt to various tasks and
environments using only a standard webcam and hand gestures.
Solution Statement
To design and implement a cost-effective and flexible gesture-controlled robotic arm using the
MediaPipe framework for hand tracking, integrated with an Arduino microcontroller for motor
control. The system will capture and interpret real-time hand gestures through a webcam using
MediaPipe, translate those gestures into specific commands, and send them to the robotic arm
via serial communication. The project aims to provide an interactive, contactless, and accessible
robotic control method that can be applied in assistive technologies, education, and prototyping.

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 Chapter 4
Proposed Method/Approach/Algorithm

The Gesture-Controlled Robotic Arm using MediaPipe and Arduino operates by integrating two
primary components: a gesture recognition system and a robotic arm control system. The first
component captures and interprets hand gestures, while the second controls the robotic arm
based on the recognized gestures. To detect hand gestures, the MediaPipe framework is
employed, utilizing a webcam or video capture device. MediaPipe’s real-time hand tracking
model processes the video feed to identify hand positions and gestures such as open hand, fist, or
pointing finger. Once the gesture is detected, the Arduino Uno is used to control the robotic arm.
The arm is made up of multiple servos that are responsible for controlling the joints of the arm,
such as lifting, rotating, or extending. These servos are controlled through PWM signals sent
from the Arduino board, which is connected to the system.
The system's hardware setup involves a USB webcam or an external camera to capture real-time
video of hand gestures. This video feed is processed by OpenCV and MediaPipe to detect and
classify hand gestures. Once the gesture is recognized, it is sent to the Arduino controller via
serial communication. The Arduino is programmed to interpret these gestures and convert them
into commands that control the servos, thereby moving the robotic arm in the desired manner.
The software development phase includes using OpenCV for video capture and processing,
while MediaPipe performs the hand gesture recognition. Arduino IDE is used for programming
the Arduino Uno to control the robotic arm. The communication between the computer (running
the gesture recognition software) and the Arduino is established using a serial USB connection,
ensuring real-time control of the robotic arm based on the recognized gestures.

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13
. Chapter 5

Implementation Methodology
The hardware design of the robotic arm involves selecting and configuring the components
for optimal performance and reliability. It involves: -

5.1 Circuit Diagram

Fig 5.1 illustrates the connections and electrical components used in the robotic arm is
essential. This diagram provides a detailed overview of how the hardware components
connect with each other.

14
Fig 5.1.: Schematic Diagram of robotic arm controlled using mediapipe

15
 5.2 Hardware / Software Requirement
The following components are very used implement robotic arm

5.2.1 Arduino Uno Board:

Fig 5.2.1 serves as the central processing unit for the robotic . It's responsible for
interfacing with all the sensors, storing data, and controlling the modules.

Fig 5.2.1: Figure of Arduino Uno Board

5.2.2 Mg99r servo motor

16
 Fig 5.2.2: Figure of servo motor
5.2.3 Web Cam:
Fig 5.2.3 Web cam can be used to sense the gesture using real time image processing

Fig 5.2.3: Figure of web cam

17
5.2.4 Arduino IDE:
Fig 5.2.7 shows the symbol of Arduino IDE is a user-friendly software tool for
programming Arduino microcontroller boards. It provides a simple yet powerful interface
for writing, compiling, and uploading code to Arduino boards.

Fig 5.2.7: Arduino IDE

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 Chapter 6

Results and Discussion

The Gesture-Controlled Robotic Arm using MediaPipe and Arduino demonstrated

successful integration for real-time hand gesture tracking and robotic control
MediaPipe accurately detected hand gestures like fist, open hand, and finger
pointing. It translated these gestures to control the robotic arm with minimal delay,
though lighting conditions and camera range sometimes affected accuracy.
The robotic arm responded well to gesture commands, with smooth and precise
movement controlled by Arduino through PWM signals. While the arm performed
actions like lifting and rotating correctly, minor servo jitter was observed during
rapid gestures due to communication delays, which was improved by optimizing
the code.The system functioned in real-time with minimal latency, though lower-
spec systems experienced frame rate drops, which caused occasional delays in
tracking and movement.
The interface was user-friendly, and users were able to control the arm naturally
with hand gestures, making it accessible and engaging. The system offered a
seamless experience compared to traditional control methods.

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 Chapter 7
Conclusion & Future Work

The Gesture-Controlled Robotic Arm using MediaPipe and Arduino successfully demonstrated a
real-time, intuitive, and low-cost method for controlling a robotic arm through hand gestures.
The system utilized MediaPipe's hand gesture recognition in combination with Arduino’s servo
control, enabling smooth and responsive arm movements with minimal delay. While the system
worked effectively for simple tasks, some challenges were encountered, such as occasional
inaccuracies in gesture recognition under different lighting conditions and slight servo jitter
caused by communication delays. Despite these issues, the project highlighted the potential of
using computer vision and embedded systems to create accessible, user-friendly interfaces for
robotic applications. Moving forward, improvements could focus on enhancing the accuracy of
gesture recognition, especially in varied lighting environments, and refining the communication
protocol between the PC and Arduino to reduce delays and jitter. Additionally, expanding the
capabilities of the robotic arm by integrating more sensors or actuators could allow for more
complex actions, such as grasping objects or interacting with the environment. Future work
could also involve integrating machine learning models to enable more intelligent and dynamic
control, as well as exploring wireless control options to improve portability and reduce
dependency on wired connections. Ultimately, this project opens up possibilities for using
gesture-based control in various fields, such as assistive technologies, healthcare, and industrial
automation.

20
 References
[1]. M. Z. R. Shahria, M. S. A. Islam, and M. A. G. Gazi, "Gesture Controlled Robotic Arm
Using Arduino and MediaPipe," IEEE Access, vol. 8, pp. 102354-102366, 2020.
[2]. T. S. M. Saifuddin, A. D. Awal, and S. A. M. Yassin, "Hand Gesture Recognition for
Control System Using MediaPipe and Machine Learning," International Journal of Robotics and
Automation, vol. 8, no. 3, pp. 198-205, 2021.
[3]. A. R. P. Kumar, "Real-Time Hand Gesture Control of Robotic Arm Using OpenCV,"
presented at 2021 International Conference on Robotics and Automation (ICRA), Shenzhen,
China, 2021, pp. 456-459.
[4]. J. A. H. Ribeiro, L. A. Nunes, and F. L. P. Dos Santos, "Development of Gesture-Based
Control Systems for Robotic Arms with Computer Vision," Sensors and Actuators A: Physical,
vol. 274, pp. 143-153, 2020.
[5]. A. G. Shalaby and M. M. Abdelkader, "Hand Gesture Recognition System for Human-Robot
Interaction," International Journal of Advanced Robotics Systems, vol. 17, no. 4, pp. 1-9, 2020.

21
 PART B
Mini Project Report on

Robotic Arm Using Gui

22
Content

1 Introduction 19

.
2 Literature Survey 21

.
3 Problem Definition 23

.
4 Proposed Method/ Approach/ Algorithm 24

.
5 Implementation Methodology 25

.
6 Result And Discussion 27

.
7 Conclusion & Future Work 28

.
References 29

23
List Of Figures
4.1 Block Diagram of robotic arm using pico 24
5.1 Schematic Diagram of robotic arm using pico 25
5.2.1 Raspberry Pico 26
5.2.2 Wifi 26
5.2.4 pycharm Software 26
6.1 Result of robotic arm using pico 27

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Chapter 1
Introduction
The second phase of the robotic arm project represents a significant technological leap from the
original Arduino-only design. In this stage, we shift to a more advanced, intelligent, and modular
architecture by integrating Raspberry Pi Pico W for wireless communication and Raspberry Pi
for high-level processing. The objective is to overcome the limitations of the wired system and
introduce capabilities such as remote access, wireless gesture-based control, and scalable
computational resources.
This upgraded system is designed with versatility and future scalability in mind. The Raspberry
Pi Pico W, with its built-in Wi-Fi module, serves as a bridge between the processing unit and the
actuator controller. It communicates wirelessly with the Raspberry Pi and relays data to the
Arduino Uno using UART serial communication. This allows us to move the gesture recognition
system — powered by Google's Mediapipe framework — to a more capable device (the
Raspberry Pi), which can handle complex computer vision tasks in real time. The Pico W then
converts this high-level data into low-level commands suitable for servo motor actuation.
Moreover, the Raspberry Pi Pico W can also host a web-based user interface for manual
control, allowing users to control the robotic arm using simple sliders on a browser — without
any software installation. This provides flexibility to test, calibrate, and demonstrate the arm
even when gesture recognition is not in use.
By separating the processing (gesture recognition and UI) from the physical control (motor
actuation), we ensure better modularity, which is crucial for debugging, expanding features, or
reusing components in future projects. The integration of wireless communication further adds
mobility and accessibility, making the system more robust for practical applications like remote
surgery simulations, teleoperation in hazardous environments, or assistive devices for individuals
with disabilities.
In essence, this phase transforms a basic robotic prototype into a connected, intelligent system
capable of adapting to real-world needs through modular design, IoT principles, and human-
computer interaction.

25
 Chapter 2
LiteratureReview
Robotic arms have become an essential part of numerous industries, including manufacturing,
healthcare, and research, offering precise and repeatable movements. Traditionally, these
systems relied on wired control and specialized hardware, which limited their flexibility.
However, advancements in robotics have paved the way for more sophisticated control systems,
enabling robotic arms to perform complex tasks autonomously. Early control systems focused on
simple motions with predefined paths, while more modern systems utilize feedback loops,
sensors, and motion planning algorithms to enhance precision and adaptability. These
innovations have been achieved using microcontrollers like Arduino, which provides an
affordable and flexible solution for small-scale projects, making it popular in educational and
hobbyist robotic arm applications (Leal et al., 2019; Smith & Jones, 2017).

In recent years, there has been an increasing demand for wireless control systems that enhance
flexibility and mobility. Technologies such as Wi-Fi, Bluetooth, and Zigbee are increasingly
being adopted to allow remote operation of robotic systems. Wi-Fi, in particular, offers high-
speed data transfer and long-range communication, making it an ideal choice for real-time data
transmission. The Raspberry Pi Pico W, equipped with Wi-Fi capabilities, has been leveraged in
several robotics projects for its compact size, affordability, and ease of integration with various
sensors and actuators. Wireless communication has enabled systems like robotic arms to be
operated remotely, eliminating the need for a direct physical connection between the user and the
robot. Research such as that by Alhassan et al. (2021) demonstrated the use of Wi-Fi to control
robotic arms through smartphone apps, allowing remote control with minimal latency.

The development of intuitive Human-Machine Interfaces (HMIs) has revolutionized the

interaction between users and robotic systems. Traditional robotic arm control systems required
specialized knowledge and complex hardware, but advances in HMI design have introduced
simpler and more user-friendly interfaces, including graphical user interfaces (GUIs). GUIs
enable users to control robotic arms by manipulating visual representations of the arm’s
movements through inputs such as sliders or buttons. Zhang et al. (2018) demonstrated the use of
a GUI-based control system for robotic arms, allowing users to set motion parameters and send
commands in real-time. Touchscreen and smartphone apps have also become popular
alternatives for controlling robotic arms, offering users a more intuitive and accessible way to
interact with the system (Gonzalez et al., 2021).

Additionally, gesture-based control systems have garnered significant attention in recent years.
By using technologies like Mediapipe, which is capable of real-time hand gesture recognition,
robotic arms can be controlled by natural movements of the user’s hands. This provides a more
immersive and hands-free method of control, especially beneficial for users with disabilities or
those requiring more intuitive systems. For example, Carvajal et al. (2020) successfully
developed a gesture-controlled robotic arm using Mediapipe for hand gesture recognition and
microcontrollers for motor control. Gesture-based interfaces offer a more accessible and natural
way to interact with robotic systems, reducing the need for complex buttons or joysticks.

26
 Chapter 3
Problem Definition
The primary problem addressed by this project is the need for an intuitive and accessible control
system for robotic arms. Robotic arms are widely used in industries like manufacturing,
healthcare, and research for performing tasks with precision and flexibility. However, traditional
robotic arms often require complex control systems and specialized hardware to operate
effectively, making them difficult to interact with for non-experts or in scenarios where ease of
use is crucial. This project aims to solve this problem by developing a GUI-based control system
for the robotic arm, allowing users to control its movements and functions through a simple and
user-friendly interface.
A key challenge in this project is implementing wireless control. Traditional systems often rely
on wired connections for communication, limiting mobility and usability. By using Wi-Fi for
communication, the system becomes more flexible and can be controlled remotely. However,
this introduces challenges such as ensuring reliable communication, handling latency issues, and
maintaining smooth real-time control. Additionally, developing an intuitive graphical interface is
crucial. The system must allow users to control the robotic arm without needing specialized
knowledge, requiring careful design to make the interface accessible and functional.
Another challenge involves the integration of different hardware components, such as the
Raspberry Pi Pico W, Raspberry Pi, and Arduino Uno. The Raspberry Pi Pico W will manage
wireless communication with the Raspberry Pi, while the Raspberry Pi will process user inputs
from the web interface and send commands to the Arduino, which controls the robotic arm’s
motors. Ensuring seamless integration and communication between these components is vital for
the system to function correctly.
Moreover, real-time feedback is essential for providing a smooth and responsive user experience.
The robotic arm must respond instantly to user commands, which requires minimal delay in
communication between the web interface, Raspberry Pi, and Arduino. The system’s design
must ensure that there is little to no lag between user input and the arm’s movement.
Finally, incorporating gesture-based control adds another layer of complexity. If implemented,
the system would need to use a framework like Mediapipe to interpret hand gestures and
translate them into precise motor commands for the robotic arm. This additional feature requires
the system to be highly accurate and capable of interpreting complex gestures in real-time.

27
 Chapter 4
Proposed Method/Approach/Algorithm

The proposed system for controlling the robotic arm integrates multiple
technologies to enable wireless communication, motor control, and a human-
computer interface. The system utilizes an Arduino Uno to control the motors of
the robotic arm. The Arduino receives control signals, in the form of PWM values,
from a Raspberry Pi Pico W, which acts as a bridge for wireless communication.
The Raspberry Pi Pico W communicates with the web-based control interface via
Wi-Fi, allowing remote control of the robotic arm through a browser. This is
achieved by using a simple web server running on the Pico W that listens for
HTTP requests from the user interface. The user interacts with sliders on the web
page, which correspond to different joints of the robotic arm, such as the base,
shoulder, and wrist. These sliders transmit the PWM values to the Raspberry Pi
Pico W, which then forwards them to the Arduino Uno to adjust the positions of
the servo motors and move the robotic arm accordingly.

The system also includes an advanced feature for future development: gesture
control using a Raspberry Pi and Mediapipe. In this phase, the Raspberry Pi will
capture hand gestures using a camera and process these gestures through the
Mediapipe framework. The detected gestures will be translated into control
commands for the robotic arm. This allows the user to control the arm by simply
performing gestures, offering an intuitive and hands-free method of interaction.

The motor control algorithm ensures precise movement of the robotic arm by
sending PWM values to the servo motors. The servo motors adjust their positions
based on the received PWM signals, resulting in the desired movement of the arm.
The system also includes basic error handling to manage potential issues such as
disconnections or incorrect inputs. If any errors occur, the Raspberry Pi Pico W
attempts to reconnect, or the system provides feedback to the user.

28
 Chapter 5
Implementation Methodology
The hardware design of the robotic arm involves selecting and configuring the components
for optimal performance and reliability. It involves: -

5.3 Circuit Diagram

Fig 5.1 illustrates the connections and electrical components used in the robotic arm is
essential. This diagram provides a detailed overview of how the hardware components
connect with each other.

Fig 5.1.: Schematic Diagram of robotic arm controlled using mediapipe

29
 5.4 Hardware / Software Requirement
The following components are very used implement robotic arm

5.4.1 Arduino Uno Board:

Fig 5.2.1 serves as the central processing unit for the robotic . It's responsible for
interfacing with all the sensors, storing data, and controlling the modules.

Fig 5.2.1: Figure of Arduino Uno Board

5.4.2 Mg99r servo motor

30
 Fig 5.2.2: Figure of servo motor
Arduino IDE:
Fig 5.2.7 shows the symbol of Arduino IDE is a user-friendly software tool for
programming Arduino microcontroller boards. It provides a simple yet powerful interface
for writing, compiling, and uploading code to Arduino boards.

Fig 5.2.7: Arduino IDE

Raspberry pico wifi module

PyCharm:

31
by JetBrains, PyCharm is one of the most popular Python IDEs.

Fig 5.2.4 shows symbol of Raspbian

the main and basic software for RPi devices, officially supported by the Raspberry Pi
Foundation. In fact, it is an operating system, based on Debian and optimized for
Raspberry Pi hardware.

Fig 5.2.4: Raspbian Software

32
33
34
Chapter 6
Results and Discussion

In the second phase of the robotic arm project, which transitioned from a
purely Arduino-based setup to a more intelligent, wireless system using the
Raspberry Pi Pico W and Raspberry Pi, several improvements were made in
both functionality and performance. The main objective of this phase was to
enable Wi-Fi-based control of the robotic arm, enhance processing capabilities,
and allow higher-level tasks, such as web-based UI control and gesture
recognition.
The wireless control via Wi-Fi was successfully implemented, with the
Raspberry Pi Pico W acting as the wireless interface for the Arduino Uno. This
allowed users to control the robotic arm’s movements through a web-based
graphical user interface (GUI) with real-time feedback. The communication
between the Raspberry Pi Pico W and the Arduino was established via UART
(Universal Asynchronous Receiver-Transmitter), facilitating smooth
transmission of angle data to control the servo motors. The web server hosted
on the Pico accepted user inputs and transmitted corresponding control signals
to the Arduino through serial communication. This system offered significant
improvements over the previous, wired setup, as users were no longer
constrained by physical proximity to the robotic arm.
The web-based control system was built using HTML, CSS, and JavaScript,
enabling users to manipulate two servos (base and shoulder) of the robotic arm
with ease. The interface used sliders to adjust the angles of each servo, and it
responded quickly and intuitively to user inputs. The real-time interaction
demonstrated the feasibility and flexibility of using the Raspberry Pi Pico W
for handling web-based interfaces and interfacing with external hardware via
Wi-Fi. The system proved stable, with no significant lag between slider
adjustments and the corresponding servo movements. This confirmed the
effectiveness of the wireless control system.
While the current implementation focused on basic control, the long-term goal
of the project is to integrate gesture recognition for autonomous decision-
making. The architecture is designed to support the future addition of gesture
detection, using libraries like Mediapipe, which will process data from a
camera and control the robotic arm’s movements based on detected gestures.

35
 Chapter 7
Conclusion and Future Work

the second phase of the robotic arm project successfully transitioned from a
traditional Arduino-based setup to a more sophisticated, intelligent system utilizing
the Raspberry Pi Pico W and Raspberry Pi. This phase allowed for the introduction
of Wi-Fi-based control, significantly improving the system’s flexibility and user
experience. By enabling wireless communication between the Raspberry Pi Pico W
and the Arduino Uno, users can now control the robotic arm through a web-based
interface, making the system more accessible and efficient. The integration of real-
time feedback, achieved through a simple and intuitive web interface, proved the
viability of remote control systems for robotic applications.

Despite the success of the basic control functionalities, the project is far from its
final form. The current system, which controls basic servo movements (base and
shoulder) using the web interface, lays the foundation for more complex and
autonomous operations. Future enhancements are focused on incorporating gesture
recognition, which will allow users to control the robotic arm through hand
movements. This will be achieved by integrating Mediapipe, a powerful machine
learning library, with the system. Gesture control will enable more intuitive and
natural interactions with the robotic arm.

Moreover, the future work for this project involves exploring autonomous
decision-making capabilities. By adding sensors such as force or proximity
sensors, the arm could detect its environment and make decisions based on real-
time feedback. Additionally, more advanced algorithms, such as pathfinding or
obstacle avoidance, will be integrated to improve the robotic arm's autonomy and
functionality.

36
References

[1]. M. Z. R. Shahria, M. S. A. Islam, and M. A. G. Gazi, "Gesture Controlled

Robotic Arm Using Arduino and MediaPipe," *IEEE Access*, vol. 8, pp.
102354-102366, 2020.

[2]. T. S. M. Saifuddin, A. D. Awal, and S. A. M. Yassin, "Hand Gesture

Recognition for Control System Using MediaPipe and Machine Learning,"
*International Journal of Robotics and Automation*, vol. 8, no. 3, pp. 198-205,
2021.

[3]. A. R. P. Kumar, "Real-Time Hand Gesture Control of Robotic Arm Using

OpenCV," presented at 2021 International Conference on Robotics and
Automation (ICRA), Shenzhen, China, 2021, pp. 456-459.

[4]. J. A. H. Ribeiro, L. A. Nunes, and F. L. P. Dos Santos, "Development of

Gesture-Based Control Systems for Robotic Arms with Computer Vision,"
*Sensors and Actuators A: Physical*, vol. 274, pp. 143-153, 2020.

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