Design and Implementation of Trainable Robotic Arm

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1 Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) Desgn and Implementaton of Tranable Robotc Arm Mo Mo Aung 1, Saw Aung Nyen Oo 2 1 Master Canddate, Department of Electronc Engneerng, Mandalay Technologcal Unversty, Myanmar 2 Lecturer, Department of Electronc Engneerng, Mandalay Technologcal Unversty, Myanmar Abstract Robot manpulator s a vtal role of robotc system to mantan the accuracy and repeatablty of robotc arm. Ths paper model the forward knematcs of 5DOF robotc arm for pck and place applcaton such as grppng, lftng, pckng and releasng object. It conssts of three man parts whch are MATLAB software mplementaton, seral nterfacng between MATLAB and mcrocontroller unt and servo control. Robotc arm s equpped wth several servo s whch do lnks between arm and perform arm movements.mcrocontroller s used to generate requred PWM sgnal for servo s rotaton.usb seral port s used as a communcaton path between the computer and mcrocontroller. The user gves the nput angle to PC, the robot arm mcrocontroller receves and send angle values to each servo s and grpper. The elevaton of knematcs usng MATLAB Robotc Toolbox. Wth the help of the MATLAB GUI, not only arm movng part can be easly predefned but also arm poston can be set up manually. And then, analytcal soluton for forward knematcs of 5DOF robotc arm s presented,to analyze the movement of arm from one pont n space to another pont.testng and calbraton of robotc arm s carred out and result show that t workproperly. Index Terms Arduno MEGA mcrocontroller, servos, Knematc Modelng, MATLAB, Robot Arm I. INTRODUCTION Robot are ndspensable n many manufacturng ndustres.robot are ncreasngly beng ntegrated nto workng task to replace human especally to perform repettve task.because t possesses hgh precson, ntellgence and endless energy levels n dong work compare to human bengs.so, robot s useful devce for many dfferent applcaton areas such as ndustry: some dangerous works ncludng radoactve effects.in the feld of robotcs, there are fve types of robot confguraton that are SCARA, artculated, Cartesan, cylndrcal and sphercal. The mechancal desgn of the robot arm s based on robot manpulator wth smlar functon to human arm. The confguraton of robot arm s smlar to artculatedrobot arm whch has fve revolute jonts and rregular workspace.robotc arm system consst of lnks, jonts, actuators, sensor and controller.the man focus of ths journal s moton smulaton and desgn the artculated robotc arm usng MATLAB software. Calbrate and test the poston of servo s by controller usng computer and specal software such as MATLAB program, MATLAB support package for Arduno hardware and robotc toolbox.the overall block dagram of the system s shown n Fg.1. In ths system, Arduno Mcrocontroller, servo s, grpper, personal computer(pc) and seral port(com)port are used to perform the poston control of pck and place process. In ths research, fve degree of freedom (5-DOF) robot arm control system s proposed and fve servo s are utlzed to drve robot moton ncludng base, shoulder, elbow, wrst and grpper.the Arduno MEGA mcrocontroller s used to control the system and MATLAB (GUI) s used to control the robot arm motons wth personal computer (PC).MATLAB Support Package for Arduno Hardware s communcated between PC and robot arm controller. The servo can be controlled to move any poston just by usng smple pulse controllng wth three wre nterface for control and power supply. The user wndow (PC) sends the seral data to Arduno by usng USB seral cable. In the MATLAB program, user nserts the calculated theory for robot arm poston usng robotc toolbox. If the program s receved seral data, calculate the specfed angle value and the robot arm mcrocontroller drves the correspondng pns and move the robot arm to the desre poston. MATLAB program s wrtten n Personal computer(pc) Seral communcaton Mcrocontroller Fg.1. Block Dagram of the Robot Arm Control System Base servo Shoulder servo Elbow servo Wrst servo Grpper servo Ths journal s organzed as follows; at frst n secton I, t presents the ntroducton of the system and the system block dagram of the robot arm. The rest of journal s presented as Secton (II) explans system flow chart system and Secton (III) show method usng n research. After that Secton (IV) are testng expermental results of the system. Fnally, Secton (V) presents the concluson of ths journal. All Rghts Reserved 2018 IJSETR 48

2 Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) II. SYSTEMFLOWCHART OF THE ROBOT ARM The system flowchart of the robot system s shown n Fg 2.At frst, assgn the varable pns whch are nput or output pn of the proposed robot arm system.and then, user check the seral port. If the case s seral condton, the user can nterface Arduno and MATLAB GUI. When the operaton s started, the robot wll be the ntal poston.and then, the user manually gve the nput angle values from MATLAB slderbar.these degree values are sent to ARDUINO mcrocontroller as nput. The mcrocontroller receves degree valuesfrom the GUI n PC and sends the output sgnals to the correspondng servo to drve the robot arm. If the user use the plot condton n MATLAB GUI, the user clck the plot button. The P x, P y, P z values are calculated by forward knematcs theorem. Fnally, the end effector pont (P x, P y, P z ) are shown n 3D plot. START Assgn requred pn for Robot Arm No Get Seral data? Yes Intal poston (90 degree) Inverse knematcs s calculated the jont angles to the desred poston and orentaton usng coordnate system. Fg.5. show block dagram of knematc method, Jonts Movements Forward Knematcs Inverse Knematcs Poston and Orentaton of the end effector Fg.3. Block dagram of knematc method A.Forward Knematc Analyss In ths system, Denavd - Hertenberg methodology s used to derve ts knematcs that helps to fnd the poston and orentaton of end-effector wth respect to base.the knematc model s shown n fgure wth frame assgnments accordng to the Denavd- Hertenberg (D-H) notatons. The coordnate frames are dentfed base on the three crtera. (a) Z axs s n the drecton of the jont axs. (b) X axs s parallel to the common normal. (c) Y axs completes the rght-hand coordnate system. MATLAB GUI manually choose angle values from slder bar a θ 2 θ 3 Z 4 Plot? No Send servo data to Arduno by seral port Yes Calculate Px,Py,Pz values wth forward knematcs n MATLAB program Y Z 1 X 2 X 1 Z 2 θ Y Y 3 X 3 Z 3 θ 4 X 4 d 4 θ 5 Y 4 X 5 Y 5 Z 5 d 1 Z 0 Drve Servo s End effector pont shows on 3D plot X 0 Y 0 III. End Fg. 2..Overall System flowchart of Robot Arm METHOD USING IN RESEARCH Robot manpulator s an essental moton subsystem component of robotc system for postonng, orentatng object so that robot can perform useful task. The knematcs analyss s the relatonshp between poston, veloctes, and acceleraton of the lnks of a manpulator.the knematcs s dvded nto forward and nverse analyss. In forward knematcs, the length of each lnk and the angle of each jont are gven and the poston of any pont n the work value of the robot s calculated. Fg.4. lnk parameters of the robot arm Table I. D H Parameter of Robot Arm No, Lnk dstance d Lnk twst angle Lnk twst length a Jont angle 1 d θ a 2 θ θ 3 4 d θ θ 5 θ All Rghts Reserved 2018 IJSETR 49

3 Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) The knematc parameters accordng to ths model are gven n Table I. The D-H representaton of a rgd lnk depends on four geometrc parameters assocated wth each lnk. (1) a s defned as the dstance from along Xˆ (2) α s defned as the angle between along Xˆ. to 1 to 1 (3) d s defned as the dstance from Xˆ -1 and Xˆ along. (4) θ s defned as the angle from Xˆ -1 and Xˆ along. Followng steps are nvolved n drect knematcs. Rotaton and translaton of arm matrx s T 1 = Rot (z, θ).trans (z, d).trans(x, a).rot(x, α) cos θ sn θ cos α sn θ sn α a cos θ I 1 sn θ T I = 0 cos θ cos α sn α cos θ sn α cos α a sn θ d Substtutng the parameters n Table(1) to obtan on 1 5 transformaton matrx T 0 to T 4 Cθ 1 0 Sθ 1 0 T 1 Sθ 0 = 1 0 Cθ d 1 T 4 5 = Cθ 5 0 Sθ 5 0 Sθ 5 0 Cθ Mathematcally, the forward knematcs equatons can be obtaned by multplyng T1 to T5 matrces as follows: n x o x a x p x T 0 3 = T 1 0 T 2 1 T 3 2 T 4 3 T 5 4 = n y n z o y o z a y a z p y p z where,s 1 = snθ 1, C 1 =cosθ 1, C 23 = cos θ 2 + θ 3, S 23 = sn θ 2 + θ 3 n x = C 5 S 1 S 4 + C 4 C 1 S 2 S 3 C 1 C 2 C 3 S 5 (C 1 C 2 S 3 + C 1 C 3 S 2 ) n y = C 5 C 1 S 4 C 4 S 1 S 2 S 3 C 2 C 3 S 1 S 5 (C 2 S 1 S 3 + C 3 S 1 S 2 ) n Z = C 23 S 5 + S 23 C 4 C 5 o x = S 4 C 1 S 2 S 3 C 1 C 2 C 3 C 4 S 1 o y = C 1 C 4 + S 4 S 1 S 2 S 3 C 2 C 3 S 1 o y = S 23 S 4 a x = S 5 S 1 S 4 + C 4 C 1 S 2 S 3 C 1 C 2 C 3 C 5 (C 1 C 2 S 3 + C 1 C 3 S 2 ) a y = S 5 C 1 S 4 C 4 S 1 S 2 S 3 C 2 C 3 S 1 C 5 (C 2 S 1 S 3 + C 3 S 1 S 2 ) a Z = C 23 C 5 + S 23 C 4 S 5 p X = C 1 (d 4 S 23 a 2 C 2 ) p y = S 1 (d 4 S 23 a 2 C 2 ) p Z = d 1 + d 4 C 23 + a 2 S 2 T 1 2 = Cθ 2 Sθ 2 0 a 2 Cθ 2 Sθ 2 Cθ 2 0 a 2 Cθ Cθ 3 0 Sθ 3 0 T 3 Sθ 2 = 3 0 Cθ T 3 4 = Cθ 4 0 Sθ 4 0 Sθ 4 0 Cθ d 4 IV. Smulaton and test results of the Robot Arm In ths system, Personal computer (PC) s used to control the system by usng seral port.matlab GUI s manually controllng the desred rotaton angle of servo by slder and calculate the forward knematcs to know the end effector poston of robotc arm.and then calculated results s shown on 3D plot. The movement of the slder on GUI wll as an nput sgnal nto the mcrocontroller and ths sgnal rotate the servo based on the desred angle adjusted by slder. The followng fgures shows the smulaton result of robotc arm usng MATLAB Toolbox. All Rghts Reserved 2018 IJSETR 50

5: Smulaton result for ntal poston Fg 9: Smulaton result

Experment Test and Result Fg 6: Smulaton result for Home

5v. The user command the nput angle nto the MATLAB GUI

When the system s power on and seral port s successfully

4 Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) Fg 8: Smulaton result for poston2 Fg 5: Smulaton result for ntal poston Fg 9: Smulaton result for poston3 V. Experment Test and Result Fg 6: Smulaton result for Home poston To test the system, power supply s connected to 5v. The user command the nput angle nto the MATLAB GUI wndow to get the desre end effector poston. When the system s power on and seral port s successfully connected to the pc, the robot arm wll go to the ntal poston. Fg shows the testng photo of robot arm at ntal poston. Fg 7: Smulaton result for poston1 Fg 10: Testng the robot arm at ntal poston All Rghts Reserved 2018 IJSETR 51

Several tests are carred out to reach the desred poston of the end effector. The results from testng of the robot arm are shown as followng.

testng for pck and movng object P3 P2 P1 Fg 13: Experment testng of pck and place object to P1 P3 P2 P1 Fg 14: Experment testng of pck and place object to P2 VI.

And P2 P3 then, artculated robotc arm s mplemented usng mcrocontroller and each of jont movements are drven usng servo software mplementaton of robotc arm s also descrbed.

ths system s very sutable for ndustral applcatons. Ths system can be enhanced by changng other programmng languages such as LABVIEW, Fuzzy,etc. ACKNOWLEDGEMENT The author s very thankful to Dr.

Tn Tn HlaAssocate Professor and Head, Department of Electronc Engneerng, Mandalay Technologcal Unversty for permttng all necessary electronc components has been used for lab centre.

5 Several tests are carred out to reach the desred poston of the end effector. The results from testng of the robot arm are shown as followng. Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) P1 P2 P3 Fg 15: Experment testng of pck and place object to P3 Fg 11: Experment testng for pckng object Fg 12: Experment testng for pck and movng object P3 P2 P1 Fg 13: Experment testng of pck and place object to P1 P3 P2 P1 Fg 14: Experment testng of pck and place object to P2 VI. CONCLUSION In ths journal, knematcs modelng method s calculated to get the poston and orentaton of the end effector wth respect P1 to base. And P2 P3 then, artculated robotc arm s mplemented usng mcrocontroller and each of jont movements are drven usng servo software mplementaton of robotc arm s also descrbed.when testng the robot arm, there s lttle error occurs. The occurrence of ths error s some mechansm structure of robot arm, the lmtaton of selected servo s, torque and varables power supply.ths system s very sutable for ndustral applcatons. Ths system can be enhanced by changng other programmng languages such as LABVIEW, Fuzzy,etc. ACKNOWLEDGEMENT The author s very thankful to Dr.Snt Soe, Rector of Mandalay Technologcal Unversty, for hs encouragement, nvaluable permsson and hs knd support n carryng out ths paper work. The author s deeply grateful to Dr.Tn Tn HlaAssocate Professor and Head, Department of Electronc Engneerng, Mandalay Technologcal Unversty for permttng all necessary electronc components has been used for lab centre. The author also wshes to thank to supervsor Dr. Saw Aung Nyen Oo (Lecturer), Department of Electronc Engneerng, Mandalay Technologcal Unversty accomplshed gudance, hs wllngness to share hs deas and, helpful suggestons and for hs patence, contnuous supervson and encouragement durng a long perod of ths paper. REFERENCES [1] Vvek Des Hpande and P M George, Knematc modellng and analyss of 5DOF Robotc arm, Internatonal Journal of Robotcs Research and Development(IJRRD),vol4,Issue2,Apr 2014, [2] Armn A.Mohammed: knematcs modelng of a 4DOF RobotcArm, : [3] Janshed Iqbal, Razu Ul Islam,ans Hamza Khan: Modelng and Analyss of 6DOF Robotc Arm Manpulator, Canadan Journal on Electral and Electronc Engneerng, vol3,no6,july [4] Wa Mar Mynt: Knematcs Control of Pck and Place Robot Arm, Internatonal Journal of Engneerng and Technques-volume 1,Issue 4, July-Aug 2015 [5] Alejandro Leva Toquca, Ruthber Rodrguez, Ardan Fernando ChavarroChavrro, knematcs modellng of a robotc arm manpulator usng MATLAB ; [6] Anonymous. : Mega 2560 datasheet.pdf [7] Khn Moe Mynt: Poston Control for pck and place Robot Arm for Object sortng system,internatonal Journal of Scentfc & Technology Research,vol5, ssue06, junw 2016 All Rghts Reserved 2018 IJSETR 52

6 Internatonal Journal of Scence, Engneerng and Technology Research (IJSETR) [8] Ashraf Elfasakhany,Edurado Yanez, Karen Baylon,Rcard Salgado: Desgn and development of a Compettve Low-cost Robot arm wth 4 DOF,do: publshed onlne November 2011 [9] Mohaned Naufal Bn Omar: Pck and Place Robot Arm controlled by computer [10] Peter Corke : Robotc Toolbox For MATLAB All Rghts Reserved 2018 IJSETR 53

ROBOT KINEMATICS. ME Robotics ME Robotics

ROBOT KINEMATICS. ME Robotics ME Robotics ROBOT KINEMATICS Purpose: The purpose of ths chapter s to ntroduce you to robot knematcs, and the concepts related to both open and closed knematcs chans. Forward knematcs s dstngushed from nverse knematcs.