Robotic Arm Design and Control Using MATLAB/Simulink

Abstract

This research focuses on leveraging the capabilities of MATLAB/Simulink and Arduino microcontrollers to develop a control system for a robotic arm intended for medical and industrial applications. The arm's structural framework consists of three motors, each connected to adjustable resistors to form a comprehensive servo motor system. By integrating these hardware components with software solutions, the study aims to create a flexible, precise, and reliable automation system. The system's position and rotational control are executed through an Arduino microcontroller, which communicates with a computer running MATLAB/Simulink software. This configuration allows for real-time data processing and system adjustments. One of the study's key contributions is the utilization of Trajectory Control techniques, which govern the arm's movements through pre-defined paths, ensuring optimal efficiency and accuracy. Furthermore, the study introduces the use of a Smoothing Function to mitigate system over-shoot, thereby enhancing control precision. The research validates its methodologies through a series of tests. Results indicate that the robotic arm successfully navigates to predetermined positions with error magnitudes as low as 2.8587, 5.7340, and 4.4406 in the A, B, and C motor axes, respectively. These outcomes demonstrate the system's potential for high-precision tasks in medical and industrial settings.