Development of Controlling Method of a Five-Degree of Freedom Robotic Arm

Abstract

Contemporary life depends increasingly on the use of robots to facilitate the achievement of daily activities, increasing the productivity of the industrial applications and accomplishing the hazardous and repeatable processes.
Therefore, the controlling method of the robotic arms plays an important role in coordinating the robot actuators and hence in executing the robot functions and tasks. This paper describes the development process of the controlling method of OWI-535 robotic arm which is five-degree of  freedom robotic arm used for lifting and placing of light objects repetitively. The robotic arm controlling method development is achieved by replacing the manual wire controller by a digital wireless controller that is designed and implemented by using ATmega 328P-PU microcontroller, Bluetooth technology, and an android smart phone. Furthermore, the control technique of the voltage polarity supplement for regular motors contained in the robotic arm is developed to an automated technique by utilizing AA51880 controller instead of the used mechanical manner. The development of the robotic arm was under experimental tests and the validation of the robotic arm performance, the experimental results indicate that the development process of wireless controlling method of OWI-535 robotic arm is realized successfully instead of using manual wire controller and the robotic arm executes wirelessly the lifting and placing tasks as desired by the robotic arm operator.