DEVELOPMENT OF A POSITION CONTROL FOR A TWO-LINK PLANAR MANIPULATOR USING MATLAB/SIMUUNK AND ARDUINO

摘要

In the frame of this project, a position control for a two-link planar manipulator is designed with the help of the simulation environment Matlab/Simulink and implemented on an Arduino real-time controller platform. The resulting mechatronic system is simulated, tested, and evaluated to determine its resolution, accuracy, and repeatability. This paper explores the design decisions, and trade-offs made in achieving a low-cost robotic arm with reasonable performance.