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ISSN 2250-3153
I. INTRODUCTION
By Pythagoras theorem,
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b² = x²+y²+ z² (1)
θ = tan‾¹(y/x) (2)
Ø = tan‾¹(z/ x²+y²) (3)
We know that area of a triangle is given by;
Here, c and a are arm length of link one and two respectively.
Similarly,
Similarly,
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ISSN 2250-3153
new angles are achieved. And the newly computed angles are
Z coordinates are decided by the arm lengths c, a, angles A, C, θ, overwritten on the previously stored values.
Ø.
As the effective length increases with increase in angles, A and For example;
C, it has a sine relationship with the z coordinate.
The effective length increases with increase in the value of Ø. If the robot has rotated the motors in the following sequence;
There is no relation for z with respect to θ. A with 15°
B with 20°
Hence, the z coordinate can be written as; Θ with 10°
Z = (cSinA+aSinB) Sin Ø Ø with 25°
Hence the kinematic equations for the robotic arm are; And if the newly calculated angles are
C. Motor Rotation Thus transformation is done from initial point to the final point.
From equations (2), (9) and (10), the values of θ, A and B are
obtained. IV. SOFTWARE
Onboard software is mainly developed with micro C. This
Θ is the angle of rotation for the base motor. A is the angle of software interfaces between the PC and the robot by receiving
rotation for the motor connecting the first link and B is the angle interrupts through RS232, to control all robot functions.
of rotation for the motor connecting the second link. Simulations have been executed in PIC simulator. The LABView
panel was developed using the LABView software. It is designed
Here, we consider that all motors are of 10rpm. And hence, all in such a manner to send the command signals and receive the
the motors cover 60° in one second. coordinate details from accelerometer through RS232.
To improve accuracy, the motor is turned on only for 1ms in one
on loop in the program.
Once the robot gets the coordinate values, it computes the angles
using the inverse kinematics and proper rotations are made by the
motors. These angle values are stored in eeprom of the controller.
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ACKNOWLEDGMENT
Figure 3: LABView Panel The research in this paper was carried out at Hindustan
Institute of Technology and science, Chennai. This work was
supported by the e-MEN Robotic Research Centre Palakkad.
V. SAMPLE WORKING
If we have an object at a coordinate (1, 5), and we have to
move it to a coordinate (3,-6), we first press the pick button in REFERENCES
the LABView panel and then adjust the X and Y values to 1 and [1] Shyam.R.Nair, “ Design of an Optically Controlled Robotic Arm for
5 using the knobs. Then we press the place button and adjust the Picking and Placing an Object”, International Journal for Scientific and
X and Y values to 3 and -6 using the knobs. These data are taken Research Publications, Vol 2, Issue 4, April 2012.
by the PIC microcontroller through serial communicator. [2] Amon Tunwannarux, and Supanunt Tunwannarux “Design of a 5-Joint
Now using the equations (2), (10) and (11), the controller Mechanical Arm with User-Friendly Control Program” World Academy of
Science, Engineering and Technology 27 2007
calculates the values of θ, A and B respectively. These values are
[3] Redwan Alqasemi and Rajiv Dubey “Control of a 9-DoF Wheelchair-
stored in separate variables and then the number of on loops to be Mounted Robotic Arm System” 2007 Florida Conference on Recent
executed are calculated and executed one by one. Advances in Robotics, FCRAR 2007
When all the motors are rotated accordingly, the tip of the [4] Jegede Olawale, Awodele Oludele, Ajayi Ayodele and Ndong Miko
second link is magnetized and this helps in holding the Alejandro “Development of a Microcontroller Based Robotic Arm”
Proceedings of the 2007 Computer Science and IT Education Conference.
magnetically attractive object. Once the destination coordinate is
reached, the tip is demagnetized to place the object. [5] Brandi House, Jonathan Malkin, Jeff Bilmes “The VoiceBot: A Voice
Controlled Robot Arm” CHI 2009, April 4-9, 2009, Boston, Massachusetts,
The output of the accelerometer is fed to the PC and thus the USA.
position of the arm can be viewed in the LABView panel. [6] Dr.R.K.Bansal ”a textbook of engineering mechanics” page no 195-
199,page no 205-209
[7] Principles of Robotics page 24-38, pg54-57
VI. CONCLUSION
LABView controlled robotic arm was successfully designed.
The robotic arm was found to be user friendly and the integration AUTHORS
of accelerometer was much helpful in attaining the feedback Shyam R. Nair, PG Scholar, Hindustan University, Chennai,
regarding the position of the arm. India, shyamieee@gmail.com
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