Open AccessDesign, construction and control of a SCARA manipulator with 6 degrees of freedom
Author(s) -
Claudio Urrea,
Juan Cortés
Publication year - 2019
Publication title -
journal of applied research and technology
Language(s) - English
Resource type - Journals
ISSN - 2448-6736
DOI - 10.22201/icat.16656423.2019.17.2.801
Subject(s) - scara , microcontroller , control engineering , robot , matlab , computer science , degrees of freedom (physics and chemistry) , interface (matter) , robotics , electronics , engineering , embedded system , artificial intelligence , electrical engineering , operating system , physics , bubble , quantum mechanics , maximum bubble pressure method
The design and implementation of a robot manipulator with 6 Degrees Of Freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user to easily command this robot and to generate trajectories for it . Materializing this work required the integration of knowledge in electronics, microcontroller programming, MatLab/Simulink programming, control systems, communication between PCs and microcontrollers, mechanics, assembly, etc.