Design And Control of A Robotic Arm For Industrial Applications

TL;DR

This paper presents the design, modeling, and control of a six-DOF robotic arm tailored for industrial automation, demonstrating high accuracy and repeatability through simulation and experiments.

Contribution

It introduces a new robotic arm design with integrated kinematic and dynamic analysis, and applies PID control for improved precision in industrial tasks.

Findings

System achieves high accuracy and repeatability

Simulation and experimental results confirm effectiveness

Design is affordable and expandable for industrial use

Abstract

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial purpose like assembly, welding and material handling. A six-degree-of-freedom (DOF) robotic manipulator was designed based on servo motors and a microcontroller interface with Mechanical links were also fabricated. Kinematic and dynamic analyses have been done in order to provide precise positioning and effective loads. Inverse Kinematics algorithm and Proportional-Integral-Derivative (PID) controller were also applied to improve the precision of control. The ability of the system to carry out tasks with high accuracy and repeatability is confirmed by simulation and experimental testing. The suggested robotic arm is an affordable, expandable, and dependable method of automation of numerous mundane procedures in the manufacturing industry.