Joint Control Implementation of 4-DOF Robotic Arm Using Robot Operating System

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dc.authoridBEN HAZEM, ZIED/0000-0002-7244-2719
dc.authoridDilibal, Savas/0000-0003-4777-7995
dc.authorwosidBEN HAZEM, ZIED/IAP-5661-2023
dc.authorwosidDilibal, Savas/Q-3748-2017
dc.contributor.authorBen Hazem, Zied
dc.contributor.authorInce, Resul
dc.contributor.authorDilibal, Savas
dc.date.accessioned2024-06-13T20:18:16Z
dc.date.available2024-06-13T20:18:16Z
dc.date.issued2022
dc.departmentİstanbul Gedik Üniversitesien_US
dc.description5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- SEP 29-OCT 01, 2022 -- Istanbul, TURKEYen_US
dc.description.abstractThe paper describes the joint position control implementation for 4 degrees of freedom (4-DOFs) robot manipulator with a robot operating system (ROS) that may be used for robotics courses. ROS contains various plugins and software packages for robots' data analysis used in robotic engineering education. To accomplish the position control of joints using the ROS, the connection between the Arduino controller board and ROS was created. Moreover, using the Arduino controller board, all motors of the 4-DOFs arm robot are controlled using a PID controller. The forward and inverse kinematic models for the 4-DOFs robot manipulator are also developed based on the Denavit-Hartenberg (DH) method. The obtained DH parameters were used in the 3D kinematic model trajectory provided by the RoboAnalyzer software to determine the position, velocity, and acceleration plots for each joint. The direct and inverse kinematic models are used in the implementation of the position controller. The results further indicate that the proposed position control using the PID controller in ROS returns accurate tracking results in terms of minimum root mean squared errors (RMSEs) that can be used in the control of any industrial robot.en_US
dc.description.sponsorshipIEEE,IEEE Algeria Sect,Istanbul Gedik Univ,AJRESD Journal,Lab Dev Durable Informatiqueen_US
dc.identifier.doi10.1109/ICTACSE50438.2022.10009733
dc.identifier.endpage77en_US
dc.identifier.isbn979-8-3503-3162-2
dc.identifier.scopus2-s2.0-85147090926en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage72en_US
dc.identifier.urihttps://doi.org/10.1109/ICTACSE50438.2022.10009733
dc.identifier.urihttps://hdl.handle.net/11501/1294
dc.identifier.wosWOS:000932842500012en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2022 International Conference on Theoretical and Applied Computer Science and Engineering (Ictasce)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectRobot Manipulatoren_US
dc.subjectRobot Operating System (Ros)en_US
dc.subjectPosition Controlen_US
dc.subjectForward And Inverse And Kinematicsen_US
dc.subjectDenavit-Hartenberg Conventionen_US
dc.subjectRoboanalyzeren_US
dc.subjectPiden_US
dc.subjectRosen_US
dc.titleJoint Control Implementation of 4-DOF Robotic Arm Using Robot Operating Systemen_US
dc.typeConference Objecten_US

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