This research work deals in the design of a control system for a six DOF manipulator. Any manipulator requires a proper kinematic and dynamic algorithm to meet a specific requirement. Our aim is to build a lightweight manipulator. So, an industrial manipulator was redesigned to match the research requirements. Kinematic and dynamic solutions of this manipulator were modelled in MATLAB/Simulink and integrated with the control of Adams. Force data given by
Adams should be received through hardware. So a joint torque sensor is manufactured for the dynamic feedback. GUI is developed with visual studio to control the actuator. This GUI can model all the parameters required for dynamic control.
This six DOF collaborative lightweight robotic arm can be operate in cartesian control, joint angle control, and tool coordinate control methods. Using cartesian control we can perform the linear movements in three axes, X, Y, and Z. In joint angle control the robot each DOF can be controlled individually. The orientation of a tool at a programmed position is given by orientation of tool coordinate system
