Motion control of robot arm

• Main Author: Soe, Moe Kyaw.
• Other Authors: Loh Poh Chiang, Andrew
• Format: Final Year Project
• Language: English
• Published: 2012
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/49620
• Institution: Nanyang Technological University

In this project – Motion Control of Robot Arm, the focus will be to create a Five-Axis Robotic Arm which has a monitor screen as an end-effector. The screen will act as a human face and it can show different emotional states (sad, happy, curious, etc.) like a real person. When it shows a specific state, the robot and its joints have to move to show like the body gesture of the person. The objective is to program the robot to function according to the user defined Joint Angle as first step. The next step is to program the inverse kinematic of the robot in which user will define the desired coordinate point and the robot will calculate the algorithm and get the joint angles so that its end effector will reach to the desired point. The hardware used in this project to build the robotic arm are the mechanical structures which act as robot links and Dynamixel RX-64 smart actuators. Robotic Operating System (ROS) will be used as the platform for robot programming. Ubuntu (Linux) Operating System will also be used as ROS only perform under Ubuntu.