| Model and Control of a Robotic Arm |
| Paper ID : 1157-IUGRC6 |
| Authors |
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Ahmed Gamal Ahmed *1, Abdelrahman Salah Zaghloulaghloul2, Ehab Mohamed Said1 1Military Technical College 2Mechatronics Engineering Department, Military Technical College |
| Abstract |
| Nowadays, all views of life require the automation and repetition of jobs. The robot arm is used to achieve this and is used in many applications (spot welding, spray painting, assembly, ...etc.). In this paper, we show how to design a CAD model for a robot arm, Simulink model, control the model by Simulink, manufacture the arm, and control it using Arduino. It includes how to perform the forward kinematics to get the end-effector positing from the given angles, the DH parameter and invers kinematics to get the angle that each joint needs to reach to a certain position, using them to obtain the final effector position, and how to move to the desired position of the part. This operation can be done using matlab. This robot arm can be used in may applications, one of them is to do parts classification. This can increase accuracy, security and save more money. |
| Keywords |
| Robotic Arm, model, forward kinematics, invers kinematics, control |
| Status: Accepted |