Development of a Two Link Robotic Manipulator

Abstract

Robots play important roles in day to day activities of human endeavour and can perform complex tasks speedily and accurately. Robots are employed to imitate human behaviours and then apply these behaviours to the skills that lead to achieving a certain task in solving the challenges faced by impaired people in society. This robotic arm was achieved using lightweight steel iron for the frames, a moderate torque MG995 Towerpro, and servo motor. Two Atmega328 Arduino microcontroller was employed to control the motors through the use of pulse width modulation technique. Mathematical models were developed for the mechanism to represent the kinematics involved at each joint with mathematical variables. Then, the stability of the system was carried out using a step input signal being a type zero system.