Modeling and Implementation of Wireless Embedded Robot Arm for Object Sorting

Inverse Kinematic (IK) model of Dexter ER2 Robotic Arm and its implementation using wireless embedded system for object sorting application was presented in this work. Dexter ER2 Robotic Arm is a vertical articulated serial robot arm built by using DC servo motors. IK modeling of robot arm was carried out in PC by using geometric method which determines the joint angles of the robot arm for required end-effector position. Determined joint angles are transmitted from PC to ARM microcontroller LPC2148 using long range Zigbee wireless communication. LPC2148 was programmed in embedded ‘C’ in such a way that it receives the joint angles through long range Zigbee wireless communication and converts into corresponding PWM signals to control the DC servo motors for robot arm end-effector position. The results were taken for different points, where the end-effector can reach in its workspace. LabVIEW software package was used for modeling and transmitting the joint angles to the LPC2148.