Abstract

The robot arm is widely used in many industries and dangerous areas. Automatic control of the robotic manipulator involves study of kinematic. The kinematic problem is defined as the transformation from the Cartesian space to the joint space and vice versa This system include the kinematic control which is used for picking and placing the object in its workspace. There are many types of robot arm in the world of engineering. This research describes design of jointed robot arm control system using kinematic modelling. The main focus of this system is to control the end-effector of robot arm to achieve the desired position in the workspace using MATLAB programming, microcontroller and inverse kinematic modelling. The MATLAB window(GUI) is used the inverse kinematic for the requirement data for the specified angle of the arm and displayed on the computer. The description of this system is to implement the hardware components for the moving process and to control servo motors with pulse width driving circuit. PIC and Max-232 been used to drive for the servo motors of the control system and receiving serial data from the computer. The control program is written in Mikro-C programming language.

Authors and Affiliations