System integration and control of a mini robotic manipulator

Abstract

This dissertation is a continuous work on a series of projects in which it presents and summarises the work carried out on an anthropomorphic arm. The results are generalizable to other types of manipulators. The main aim of this project is to design and test various control algorithms for a mini robotic manipulator. Such applications pose specific requirements that are in general different from those of traditional robot design. Control algorithms were developed both for the gripper and for the arm. A controller for path trajectories is proposed. The control architecture was analysed, and experiments were carried out in the five degrees of freedom . The experimental results, which consist of control algorithms such as a PID controller, confirm the performance of the developed hardware and control strategies.