Modeling and Control of Five Degree of Freedom Robot Arm Using Microcontroller

Abstract

This thesis introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems. Modeling and control of five degree of freedom (DOF) robot arm is the subject of this thesis. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. Deriving forward kinematics is an important step in robot modeling based on Denavit Hartenberg (DH) representation.

At this thesis the controller for robotic arm using PIC microcontroller (16F877A) was designed with the aim of carrying out tasks such as moving objective from place to another.