Development and Implementation of a Control System for a Robotic Arm : A Modular and Modern Approach to Replace an Old Control System

Moving solar cell samples in a vacuum chamber is a tedious task not suited for humans. Instead, a robotic arm is used since it can tolerate the vacuum without any issues. Problems arise when the control system fails and is too old to be repaired. In a case like that, the options are to either buy a whole new system or to make a new control system. The aim of this project was the latter, using three Arduino Nano microcontrollers and a Raspberry Pi 5 single-board computer. In the new system the majority of the old hardware is kept, thus making it an economically feasible and environmentally friendly solution. Additionally, the old software was closed-source, therefore a new user interface with accompanying backend systems was implemented. The user interface was built using Vue.js with an Express.js backend. The new system has been tested as a proof of concept in a testing rig and is currently installed in the vacuum chamber. The only remaining part is to save the positions, after which the system will be fully functional.