Implementation of Robotic Kinematics Algorithm for Industrial Robot Model Using Microcontrollers

Abstract

This paper aims to describe the implementation of hardware and software layers for a physical model of an industrial robot. The discussed manipulator has three degrees of freedom, which are responsible for positioning the end effector in the XYZ coordinate system and one degree of freedom controlling a rotation of the end effector. Both manual control and automatic robot movement to the desired path are considered. For this purpose, the STM32F4 microcontroller is used. This work describes the following issues: the choice of appropriate components, the design of secure PCB boards, implementation of the software layer. It consists of the microprocessor logic layer responsible for handling peripherals and safely controlling the mechanical arm. Handling the robot manipulator is possible thanks to the created graphical user interface, which communicates with the logic layer.