Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-04-30
2024-02-24
2024-01-04
Manuscript received September 26, 2023; revised November 11, 2023; accepted December 7, 2023; published April 10, 2024.
Abstract—In recent decades, robotics and artificial intelligence have gained significant importance for their involvement in various industrial processes currently at their peak. Nevertheless, advanced robots are not designed explicitly for lemon supply. This research aims to develop a manipulator robot with 5 degrees of freedom and control its trajectories for lemon supply purposes. To achieve this goal, kinematic and dynamic calculations of the manipulator robot were performed, along with the development of programming code in Matlab to determine its trajectories, positions, speeds, and accelerations. In addition, the Proportional Integral Derivative (PID) tuner was used to obtain the optimal controller parameters and ensure accurate joint trajectory generation.Keywords—robotic arm, Proportional Integral Derivative (PID) controller, robot path, control, modeling, human-robot interactionCite: Henry Peralta-Caprachin, Raul Angeles-Orahulio, and Ernesto Paiva-Peredo, "Design and Position Control of a Robot with 5 Degrees of Freedom," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 2, pp. 241-248, 2024.Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.
