Development of a programmable robotics arm using MATLAB

Abstract

A robotic arm is a manipulator for robots that can be programmed to do tasks that a human arm can perform. As with an articulated robot, the manipulator's linkages are joined by joints that enable either rotational motion or linear displacement. A kinematic chain may be thought of as being formed by the manipulator's linkages. The robot arms may be operated autonomously or manually and are capable of performing a wide range of activities with high precision. Both stationary and wheeled versions of the robotic arm may be used in industrial and domestic settings. This study examines a robotic arm that uses accelerometers as sensors to collect data on natural arm motions to mimic those of a human arm. This method of control allows greater flexibility in controlling the robotic arm rather than using a controller where each actuator is controlled separately. The processing unit takes care of each actuator’s control signal according to the inputs from an accelerometer, to replicate the movements of the human arm. Robotic arms are programmed manipulators that have a striking resemblance to a human arm in terms of design. Joints connect the various parts of the arm. Robotic arm joints, in contrast to the rotating joints seen in human arms, may be capable of varying the link length (prismatic joints). The term