Position Control of a Three Degree of Freedom Robot Manipulator


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Takan S.

Heavy Machinery-HM 2014, Zlatibor, Serbia, 25 - 28 July 2014, pp.41-44

  • Publication Type: Conference Paper / Full Text
  • City: Zlatibor
  • Country: Serbia
  • Page Numbers: pp.41-44

Abstract

Robotics is the area of science which analyzes appliances which are able to perform the desired task, to do physical acts and are supposed to replace man. Meanwhile Robotics is the shared technological area with all basic engineering fields. In order to have an understanding of robots' structure and fields of application, it is essential to use data network of basic engineering ( including: mechanical, electrics and electronics, computer and industrial engineering). Robotics is the common outgrowth progressed and developed by all these engineering fields.In analyzing different stages of designing and making a robot one can see that it is the shared result of all engineering fields mentioned above.

Generally speaking, robot is a mechatronic device able to perform pre-determined tasks, in this study gradual development and general design of a hand robot is investigated.

This hand robot can be used for different intents. For instance it can perform as a classification robot. its mechanic structure allows this performance. Five different servo-assisted motors facilitate its movements in any particular way. Since biggest advantage of servo-assisted motors are the ability to make movements in the set angle by controller and high sensitivity. In this study , the movements of limbs in desired angles to desired points are computed using reverse kinematic equations. Atmega 2560 version of Arduino processors is applied as micro-processor. the main advantage of Atmega 2560 is allowing the robot hand to be used for different intents. also existence of different communication protocols which enables writing of different programs is another advantage. process speed of card makes it possible for the robot to perform better and lets the limbs to do desired action at the desired moment. for example if we decide to use it as a classification robot, it will be able to take out the material on the conveyor at the right moment and put them in the predetermined spot. In the Home position it waits for newly arriving material by going backward. servo-assisted motors are used to make delicate actions like this possible. these motors are corresponded properly by Atmega 2560 to allow proper performance for robot.