Open AccessModeling, Fabrication & Control of an Articulated Robotic Arm
Author(s) -
G Krishna Teja*,
K S Sandesh,
Kailash Chand,
V.K. Sagar
Publication year - 2020
Publication title -
international journal of innovative technology and exploring engineering
Language(s) - English
Resource type - Journals
ISSN - 2278-3075
DOI - 10.35940/ijitee.i7221.079920
Subject(s) - kinematics , software , robotic arm , computer science , arduino , microcontroller , matlab , machine vision , smt placement equipment , simulation , control system , artificial intelligence , control engineering , robot , computer vision , computer hardware , engineering , embedded system , physics , operating system , classical mechanics , electrical engineering , programming language
Modeling and Fabrication of robotic systems and their control for pick &place and maintenance tasks is highly complex activity involving coordination of various sub-systems. The entire design has four important modules: (i) CAD Modeling (ii) Control System Design (iii) Machine Vision and Image Processing, (iv) Hardware Development and Testing. The five- axis articulated manipulator equipped with a vision camera in eye-to-hand configuration is designed for performing the pick and place operations of the defected tiles in a systematic manner. Dynamics of manipulator is required for design of model-based controllers. Interactive programs are developed in Matlab for kinematics and dynamics. Three-dimensional manipulator assembly configuration is modeled in Pro-E software. Motion analysis is conducted in Arduino software in order to compare the results obtained from the classical kinematics. The test set-up is developed using vision camera and microcontroller platform to guide the robot joint servos so as to perform defected object replacement activity. Presences of the coordinate of the region are indicated with the use of image-processing operations.