Control of robot arm by using reference arm and LabVIEW

In this study, position controlling of a robot arm with Four degree of freedom and an ending function element connected to this robot arm by using reference arm and control software written in computer environment were considered. For this purpose, responsive potentiometers placed on the joints of one of the arms to perceive the joint angles and named as Master Arm. To the joints of other arm, RC servo motors were placed which will move according to the joint angles of master Arm as well as the virtual joint angles produced by the control software and this arm named as Slave Arm. The Control program of Master and Slave Arms that is the exchange of information with computer was provided via an ADC Daq card connected to the computer. Additionally, the positional vectors of the ending function element which were kinematic calculations made according to the joint angles taken from the Master Arm or virtual joint angles produced on the control software were shown on the software for information purpose. In addition to that, Inverse kinematic calculations of x, y, z coordinates for the required position of ending function element on the three dimensional plane's have been made to provide positioning of the slave arm, and the calculated joint angles have also been displayed on the monitor for information.