Palletizing Manipulator Design and Control Using Arduino and MATLAB

被引：5

作者：

Issa, Ahmed ^{[1
]}

Aqel, Mohammad O. A. ^{[1
]}

Albelbeisi, Mahmoud M. ^{[1
]}

Elaila, Majd O. ^{[1
]}

Mortaja, Malek A. ^{[1
]}

机构：

[1] Al Azhar Univ Gaza, Fac Engn & Informat Technol EIT, Dept Engn, POB 1277, Gaza, Palestine

来源：

2017 INTERNATIONAL CONFERENCE ON PROMISING ELECTRONIC TECHNOLOGIES (ICPET 2017) | 2017年

关键词：

palletizing manipulator; mathematical model; MATLAB; Arduino;

D O I：

10.1109/ICPET.2017.17

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Robotic manipulators have many useful industrial applications. This paper describes the design and development of a palletizing manipulator robot system. The mechanical design is presented followed by derivation of the forward and inverse kinematics equations that describe the robot's motion. The control system and codes have been developed using MATLAB and Arduino to drive stepper motors that actuate the manipulator. The robot's motion equations have been tested and verified using MATLAB, LabVIEW and SOLIDWORKS. The simulated results were in good agreement with the actual performance of the robot. Finally, the manipulator's positioning errors were determined and discussed based on a number of repeatability experiments.

引用

页码：60 / 65

页数：6

共 16 条

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