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

Basit Öğe Kaydı
dc.contributor.authorBeyhan, Ayberk
dc.contributor.authorAdar, Nurettin Gokhan
dc.date.accessioned2021-03-20T20:12:46Z
dc.date.available2021-03-20T20:12:46Z
dc.date.issued2019
dc.departmentBTÜ, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.description11th International Conference on Electrical and Electronics Engineering (ELECO) -- NOV 28-30, 2019 -- Bursa, TURKEYen_US
dc.description.abstractIn 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.en_US
dc.description.sponsorshipChamber Elect Engineers Bursa Branch, Bursa Uludag Univ, Dept Elect Elect Engn, Istanbul Tech Univ, Fac Elect & Elect Engn, IEEE Turkey Secten_US
dc.identifier.endpage1041en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage1037en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12885/693
dc.identifier.wosWOS:000552654100207en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorBeyhan, Ayberk
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2019 11Th International Conference On Electrical And Electronics Engineering (Eleco 2019)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subject[No Keywords]en_US
dc.titleDetailed Kinematic Analysis and Real-Time Application of the 4-DOF Low Cost Robotic Armen_US
dc.typeConference Objecten_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Mekatronik Mühendisliği Bölümü Yayın Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu