Research on control system of the robotic arm

In response to the requirements of assembly line handling operations, this article derive the kinematic forward and inverse solution algorithms, and the motor acceleration and deceleration control algorithm for the robotic arm. Numerical simulation analysis are conducted for the working range for robotic arm, the acceleration and deceleration curve of stepper motor, and the variation curve of three-axis angle. The motion of the robotic arm is tested and analysed. The system enable the robotic arm to complete certain motion trajectories and simple handling actions as needed, which is suitable for work scenarios that do not require high precision and speed. This design is helpful to solve high repetition rate handling tasks such as cargo handling on assembly lines.