4-DOF Robot Arm for Pick and Place Process

Review Article

Abstract

The more increase in the number of industries in developing countries, the more laborers or workers are required. To reduce the cost of the labor force and to increase the manufacturing capacity of industries, advanced robot arms are more needed. This paper aims to eliminate the control of the robot arm for picking and placing the object. The arm is constructed in this research with four joints, four links, and four Dc motors to drive the robot arm. Arduino Microcontroller is used to generate the required control signals for DC motors. This paper involves the PID-based kinematic control system which is used for doing successful robotic manipulation tasks in its workspace. Standard DH parameter convention is used to calculate forward kinematics. An analytical method for a closed-formed solution of inverse kinematics is applied to solve the unknown joint angles required for the autonomous position of a robot arm. Four DC motors of four joints are controlled using PID techniques for position control. And for the interface control system via PC, a MATLAB GUI is used to interactively communicate with Arduino controller. The control of this pick and place robot arm system is fully tested in real-time, and the results show that the system has a precise control system for obtaining a good system performance.