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https://epub.vgu.edu.vn/handle/dlibvgu/537| Title: | Controlling a robotic arm using forward and inverse kinematic | Authors: | Le Anh Tai | Keywords: | Robotic arm;Kinematic;Microcontroller | Issue Date: | 2018 | Publisher: | Vietnamese-German University | Abstract: | Robotics is a field of technology that plays an essential role in modern indus- tries. The rapid development of engineering helps adopt robots to be smarter and safer to collaborate with human. Hence, scientists and engineers have been creating many types of robot to serve the world. Robots are used in society such as cleaning robots, teaching-aid robots or artificial intelligence (AI), which is a robot brain. For industrial purposes, robots designed to be an human arm-like manipulator, or parallel robots that look like hanging spiders to allocate products or to do welding works. In general, a robot can be constructed in any possible shape that suits our purpose. This thesis is about controlling a robotic arm, a small prototype of a three degrees of freedom robot that is used mostly in logistic industry for grasping packages. Specifically, this robot will be controlled using the mathematics of forward and inverse kinematics, with the help of a microcontroller board and electrical devices that allow the robot to move in desired movements and locations. The robot body is already built from the elective subject, thus in this thesis, we focus more on kinematics theories and control methods. The entire work is done with the help of computers running Windows 7. From solving the maths to apply the resulted formulas in simulation, and experiment them on real electrical devices, all of these works are aided by computers to speed up the learning curve and to maintain the accuracy of decisions. There are many softwares and platforms used in this thesis, which will be mentioned in the next sections. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/537 | Rights: | Attribution-NonCommercial 4.0 International |
| Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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| Controlling a robotic arm using forward and inverse kinematic.pdf | 17.36 MB | Adobe PDF |
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