robot_arm

Robot Arm Using Arduino Mega and L293D Motor Control Module

Dependencies

• AFMotor.h
• math.h

Mathematical Modelling

Interative Model

Let a and b be the red and green arm lengths respectively

Then for a coordinate (r, h), angles alpha (angle of red arm from X' axis) and beta (angle of green arm from red arm in counter-clockwise direction) are given by the following relation:

Major Components

• Arduino
• Three DC Motors
• Three Potentiometers
• L293D Motor Control Module

Set-up

1. Each Motor is coupled with a potentiometer so that the angles can be measured. Configuration is important and therefore the code needs to be modified accordingly.
2. Motor 1 is used at the bottom to turn the plane of arms at a desired angle theta from starting vertical plane (say XY).
3. Motor 2 is used at the root of red arm and measures angle alpha.
4. Motor 3 is used at the root of junction of red and green arms and measures angle beta(angle of green arm from red arm in counter-clockwise direction).
5. Analog Pins of Motor 1, Motor 2 and Motor 3 potentiometers are connected to A8, A9 and A10 pin slots respectively.

Contributos

1. Abhishek Kr Mishra
2. Akash Chauhan
3. Umakant Vashishtha