Modular Control Library Development for a DC Motor-Driven Robotic Arm

Robotic arms play a crucial role in automation, manufacturing, and medical engineering. This project is focusing on how a robotic arm can be used to mimic a patient’s arm movements, providing data about motor functions, which can be used in therapy and rehabilitation to treat movement disorders associated with diseases such as Parkinson’s. The thesis documents the selection of relevant grip patterns, their implementation, and overall control of the robotic arm. A modular library is developed to provide an interface for sending movement instructions and to ensure precise execution. For more convenient control, a Graphical User Interface (GUI) is also implemented. In addition, various measurements are conducted—such as power consumption for each movement, system delay, and speed evaluation—to showcase the electrical and mechanical characteristics of the system, and demonstrate that the arm operates with minimal delay.