REAL TIME CONTROLLED TWO DoF FIVE BAR ROBOT MANIPULATOR

In this research, computer controlled two DoF five bar robot manipulator is investigated. In order to control manipulator, a human machine interface program is developed in Visual C# after completing inverse kinematic analysis of robot manipulator. By the help of inverse kinematics, this program calculates two joint variables for given positions of end point. Then the program sends a data package containing these joint variables to Arduino microcontroller. Arduino microcontroller set the positions of two servos according to calculated joint angles. Also using standard geometries, robot can follow trajectory a line, a circle and a rectangle. Furthermore, a lot of patterns can be generated using function with variable radius and angle of rotation.