Design and construction of an anthropomorphic robotic arm of seven degrees of freedom with kinematic and dynamic analysis based on genetic algorithms

摘要

This article describes the design and construction of an anthropomorphic robotic arm capable of performing activities difficult or avoid collisions within your workspace, which is controlled by a computer program where the user indicates the target position and orientation to be achieved by the robot TCP. The software programmed in Matlab is developed, it calculates the angular displacements of the actuators using Genetic Algorithms (GA) considered as restricting the minimum and maximum angular displacement of each motor. The program has a graphical interface that displays a 3D robot animation, displays graphs of torque, velocity and acceleration at each joint also allows you to generate trajectories based on programmed points. The robot is connected to the computer using an USB connection and has an USB2Dynamixel device through which communication with computer controllers and servomotors Dynamixel is managed.