Modeling, Fabrication & Control of an Articulated Robotic Arm

Abstract

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.