Abstract:
A great role played by the robots during the current pandemic. So far, they contributed a large effect on the medical sector. However, their valuable uses could be developed in many endeavors. Thus, this work involves the assembly of a six degree of freedom (DoF) robotic, DoF’s arm, and multi motion control. Also, designed control algorithms with interfacing circuits are proposed for this robot motion where the implemented robot can replace human activity in the industry, by teaching the robot for the required specific process and re-execute it again with the same precision based on the power of the designed controllers. This controlling behavior is known as open-loop control; it’s implemented by redesigning a joystick button as a manual controller, then implementing the wireless controller based on a specifically designed mobile application and a Bluetooth model. The re-repeating process can include some workspace obstacles. Therefore, the implemented robot will be equipped with environmental sensors, which can sense the object’s presence via sensors or a vision system or it can analyze the object’s color by sensors. Where the controlling idea via sensing environment is known as closed-loop control. The power of the designed controllers shows trajectory tracking accuracy of 95% and 97% in the open-loop control idea-based wire control by joystick, and by wireless application respectively, while the accuracy of the trajectory tracking by the closed-loop control system equipped with presence sensors and vision system is 100%.
