Abstract
Robots and manipulators are used to serve machine tools in automatic production system. The robot arm was designed with two degrees of freedom and accomplished accurately simple tasks. This paper represents experimental results on circular movement and straight line movement of two-link manipulator in a vertical movement. The lengths of robot arm links was designed from the desired workspace boundary conditions. Pololu 70:1 gear motors are selected for two joint revolutions of the robot manipulator after analysing the dynamics of two links. To control the robot, it performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.
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