Modeling and Control of a Robot

Abstract

Multi-degree of freedom robots are playing very important role in different application of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years the design, fabrication and development of robotic arms have been active research areas in robotics all around the world. This project describe a mechanical system, design concept and prototype implementation of a 6 DOF robotic arm, which should perform industrial task such as pick and place of fragile objects operation. This robot arm being controlled by micro-controller has base, shoulder, elbow, wrist rotation and a functional gripper. Gripper has been built as end-effector and is capable of grasping diverse objects within own workspace of the arm possible. PID controller is implemented on each motor. The microcontroller implement forward kinematics and position control of DC motors. The design aims to provide fine manipulation in performing pick and place task, while still maintaining the simplicity of design.