3 DOF robot programmed with PIC 18f45k22 for handling materials in a robotic cell

Abstract

This paper presents the interaction between different devices for the operation of the prototype of a 3-degree robotic arm applied to a robotic cell, which was programmed with a low-cost microcontroller (PIC18F45K22), using serial communication peripherals (UART and I2C), LCD and three presence sensors (infrared). In addition, the robot work area is presented, making use of Peter Corke's robotics toolbox in Matlab, as well as the printed circuit board (PCB) designed in EasyEDA for the electrical connections of the microcontroller and the other electronic components that work simultaneously with the robot. Finally, the results obtained by means of points and trajectories with different operating modes are presented through physical and simulated tests in Matlab.

Keywords

• 3 dof
• i2c
• microcontroller
• peter corke
• robotic arm
• uart