Development of PC-Based Simulation and Control Platform for a 6-DOF Robotic Arm

Abstract:

This paper developed a 6-DOF (degree of freedom) PC-Based robotic arm system. The system mainly include in software platform and servo control card, servo control card based on microcontroller STC12C5A60S2 was designed to drive the servomotor connected with each joint of robot. The software was implemented by combining MFC with OpenGL. By using the OpenGL functions, the software is able to draw and simulate the 3D kinematic scheme of the robot, it also provides 3D motion planning simulation feature. With the help of simulation in the GUI, users can visualize the manipulator motion planning. Furthermore, user also can control the real robotic arm through this software. Finally, point-to-point motion and continuous path motion are all tested in simulation and real robot control. The entire system has been successfully implemented.

• Periodical: Applied Mechanics and Materials (Volumes 543-547)
• Pages: 1397-1400
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.543-547.1397
• Online since: March 2014
• Authors: Wen Zhe Wang*, Shi Yue Liu, Qing Bo Geng, Qing Fei
• Keywords: OpenGL, PC-Based Control, Robotic Arm, Simulation

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