Six Degrees of Freedom Robotic Manipulator
June 2020 - August 2022
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A six DOF robotic arm was designed entirely from scratch using Autodesk Fusion 360.
Three 12-V DC motors were used for the first three joints, three MG995 servo motors are used for the last three joints, and the Arduino Mega Pi was used as the microcontroller. Necessary components were produced by 3D printing and laser cutting, and the robot was assembled and built.
Analyzed kinematics, and a close-form inverse kinematics solution was derived. By using that solution, a task space control algorithm was developed for real-time control of the arm and our own graphical interface and control were developed.
Robot Operating System (ROS) was implemented and ROS-Arduino interface was developed to enable the direct control of the arm with ROS.
Gazebo Simulation
Direct Control of the Arm with ROS RViz GUI
4 DOF / 5 DOF Variant
4 DOF / 5 DOF Variant
The robot arm was also designed in such a way that it can be changed and assembled into 4 DOF and 5 DOF versions, just by removing and reassembling some screws and components. The one shown on the left panel is a 4 DOF variant.
The inverse kinematics solution and task-space control algorithm are also developed for corresponding 4 DOF and 5 DOF variant arms.
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