Detailed Kinematic Analysis and Real-Time Application of the 4-DOF Low Cost Robotic Arm

Abstract

In this study, real-time position control of the robotic arm has been implemented. For this purpose, an experimental setup was designed and installed for low cost 4-DOF robotic arm. Servo motors are used for the movement of each joint of the robotic arm. Kinematic equations have been obtained for the control of the robot. Inverse kinematic equations have been obtained for the robot to move to the desired position in the Cartesian space. The inverse kinematic equations were used to calculate the angle values required from x-y-z position coordinates. These angles were used to control the motors. The angular position obtained from the encoders of servo motors were obtained by using x-y-z position information in forward kinematic equations. wrist roll angle was defined so that the last link can reach the target at the desired angle. Real-time implementation of the proposed method is carried out using Matlab. The results are given in graphs and tables.