Development of a 3-axis articulated type robot arm with a mobile PID controller

Tang, Kah Chun (2016) Development of a 3-axis articulated type robot arm with a mobile PID controller. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project introduced a faster method to develop a 3-axis articulated robotic arm. As the old approach in developing an articulated robotic arm are complicated and needed professional skill, a simple and fast approach in applying the rapid prototyping in embedded system are applied. The report will explain on the method to develop the robotic arm in three main process that is the software development, mechanical development and electronic development. In this project, the control of the robot are focused instead of its application. Matlab Simulink block sets will be applied in the control scheme together with the Lubin Kerhuel block sets implemented by Microchips. At the end of the project, a physical model of 3-articulated robotic arm are fabricated. 3D printing technique are involved in the mechanical development. The performance of the robotic arm will then tested and analyzed to ensure that it can perform various standard motion and able to reach any possible pin pointed location without mistake.

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