Cyber-Physical Modeling and Simulation of Four-Axis Articulated Robot

This paper presents the physical component modeling and simulation of a five degree of freedom articulated robot arm. Robots are used extensively in manufacturing and field like mines, space, military, medicine, hospital and agriculture. The articulated serial link manipulator act as robotic arm similar to a human arm. The robot arm end point trajectory in Cartesian space is realised by forward kinematic and inverse kinematic based on analytical solution method and the results are verified. A simple analytical method is formulated to solve analytically difficult inverse kinematic problem. The physical robot system modeling is accompanied by a control system to meet the sequence of movements by position controllers. The controller including PID and a single board computer imitating Ardinio.