Development of an Open Source Modular Control System for Articulated Robotic Arm

Darshan Doria; Rahul Goradia; Naveen Rastogi; Pramit Dutta

doi:10.37591/joarb.v3i2.731

Abstract

An open source modular control system architecture consist of different control modules for motion control, path planning, sensory feedback etc. which all can be extremely beneficial to develop an integrated control system for an articulated robotic arm. In this proposed work, different open source robot control software was being identified and an optimized modular robot control system was developed for controlling the articulated robotic arm. The control system was being integrated with different sensors for the closed loop feedback control. A command and control graphical user interface (GUI) was also developed for the operator to pass the control parameters and for plotting the data from the sensory feedback.Keywords: Robot operating system (ROS), forward kinematics, inverse kinematics, Arduino, path planningCite this ArticleDoria D, Goradia R, Rastogi N, et al. Development of an Open Source Modular Control System for Articulated Robotic Arm. Journal of Advancements in Robotics. 2016; 3(2): 1–9p.