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Design of control system for six-degree-of-freedom robotic arm

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Publicado en:Journal of Physics: Conference Series vol. 2724, no. 1 (Mar 2024), p. 012006
Autor principal: Chen, Chaoda
Otros Autores: Lv, Zhisheng, Wu, Siyang, Li, Kangxing, Chen, Ziyang, Huang, Zhixing
Publicado:
IOP Publishing
Materias:
Control systems design
Servocontrol
Degrees of freedom
Servomechanisms
Robot arms
Trajectory planning
Servomotors
Robot control
Three dimensional models
Acceso en línea:Citation/Abstract
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Resumen:To study the robotic arm trajectory planning and motion, the six-degree-of-freedom robotic arm control system design is proposed. In this paper, we choose a multi-joint type of robotic arm. We analyze the design of the robotic arm at home and abroad and determine the specific servomotor model and the specific robotic arm mechanism. We analyze the torque relationship of each joint and the size of the servomotor. Using SolidWorks and Robot Studios, we carry out the three-dimensional design modeling and simulation of the robotic arm, design the whole set of robotic arms, and use the Arduino Uno development board for precise control of the servo motor. The control program was written using C language, and various control tests were carried out on the robotic arm to make sure that the system could satisfy the debugging and research of trajectory planning type.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2724/1/012006
Fuente:Advanced Technologies & Aerospace Database