Remote control of robot arm with five DOF

摘要

This paper explains the whole process of making a system for remote control of a robot arm with five degrees of freedom (DOF). For this purpose a hardware structure was fully designed and implemented. The hardware structure is based on microcontroller PIC16F877A and surrounding architecture that controls movement of different axis of the arm. The arm has no sensors, so the visual information from the camera was used as feedback. Two communications were used to operate robot arm. The first one is realized by serial RS-232 protocol between PC and Microcontroller, and this communication is used to operate the arm. The second communication uses TCP/IP protocol for remote control. The TCP/IP protocol provides communication between server and client computers and sends information of position of robot arm. For interaction with user appropriate GUI is implemented in MATLAB. The main objective of this paper was to obtain fully and precise control of every degree of freedom.