Efficient Design and Implementation of 4-Degree of Freedom Robotic Arm
Ankit Gupta1, Mridul Gupta2, Neelakshi Bajpai3, Pooja Gupta4, Prashant Singh5
1Ankit Gupta, DESE, Indian Institute of Science, Bangalore, India.
2Mridul Gupta, Electronics & Communication, Kanpur Institute of Technology, GBTU University, Kanpur, India.
3Neelakshi Bajpai, Electronics & Communication, Kanpur Institute of Technology, GBTU University, Kanpur, India.
4Pooja Gupta, Electronics & Communication, Kanpur Institute of Technology, GBTU University, Kanpur, India.
5Prashant Singh, Electronics & Communication, Kanpur Institute of Technology, GBTU University, Kanpur, India.
Manuscript received on May 16, 2013. | Revised Manuscript received on June 09, 2013. | Manuscript published on June 30, 2013. | PP: 101-104 | Volume-2, Issue-5, June 2013. | Retrieval Number: E1720062513/2013©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: A robotic arm is a mechanical arm which is designed to perform a function similarly as a human arm does. It is usually programmable and arm may be a sum total of the mechanism or can be part of a complex robot. To design a robot, various links are being connected by joints allowing either a translational (linear) motion or a rotational motion in various planes. In many cases sensors are used in the arm that usually indicates the controller about the hardness by which the gripping is done by arm or directs the arm in directions in which it should move to perform the task or it tells the system about presence of object in front of it. Various aspects that are kept in mind while designing a robotic arm are torque calculation for each motor used, concept of inverse kinematics, interfacing to remote controller, ways for noise reduction in ADC (analog-to-digital converter).We have designed this robotic arm using servos, ATmega32 microcontroller with interfacing analog joysticks controller. We have made some improvements in design by reducing the noises that were generated due to mechanical construction of the joystick which continuously varies and gives some noises. And also we have used the fact the mechanical system has larger response time as compared to associated electronics. To overcome this we went for some software filters and algorithms following the ADC. Before this, we have introduced inverse kinematics with its difference from forward kinematics and various calculations related to it.
Keywords: Averaging Filter, DOF, End effectors, Inverse kinematics, IIR Filter.