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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
Arduino Based Planar Two DoF Robot Manipulator
Author(s)
Fatih Cemal Can
Full-Text PDF
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DOI:10.17265/2159-5275/2018.03.002
Affiliation(s)
Mechatronics Engineering Department, Faculty of Engineering and Architecture, İzmir Katip Çelebi University, İzmir 35620, Turkey
ABSTRACT
In
this research, two DoF five bar robot manipulator is controlled by using a
human-machine interface program working in a computer. The human machine
interface program is developed in Visual C#. Net environment after completing
inverse kinematic analysis of the robot manipulator. Human machine interface in
computer screen calculates two rotational joint variables for given positions
of the robot end point. Then the computer program sends a data package
containing these joint variables to Arduino microcontroller. Arduino
microcontroller set the position of two servo motors according to calculated
joint angles. Any position in workspace can be obtained by using the algorithm.
The robot can follow trajectories such as a line, a circle and a
rectangle. Furthermore, a lot of patterns can be generated using function with
variable radius and angle of rotation.
KEYWORDS
Two DoF robot manipulator, five-bar, Arduino, Visual C#.
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