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Robotic Arm Design and Control Using MATLAB/Simulink

Article in International Journal of Membrane Science and Technology · September 2023

DOI: 10.15379/ijmst.v10i3.1974

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International Journal of Membrane Science and Technology, 2023, Vol. 10, No. 3, pp 2448-2459

Robotic Arm Design and Control Using MATLAB/Simulink

Rawiphon Chotikunnan1, Kittipan Roongprasert2*, Phichitphon Chotikunnan3,

Pariwat Imura4, Manas Sangworasil5, Anuchart Srisiriwat6

1,2,3,4,5College
of Biomedical Engineering, Rangsit University, Pathum Thani, Thailand 12000; Email:
rawiphon.c@rsu.ac.th
6Department of Electrical Engineering, Pathumwan Institute of Technology, Bangkok, Thailand 10330
Abstracts: This research focuses on leveraging the capabilities of MATLAB/Simulink and Arduino microcontrollers to
develop a control system for a robotic arm intended for medical and industrial applications. The arm's structural
framework consists of three motors, each connected to adjustable resistors to form a comprehensive servo motor
system. By integrating these hardware components with software solutions, the study aims to create a flexible, precise,
and reliable automation system. The system's position and rotational control are executed through an Arduino
microcontroller, which communicates with a computer running MATLAB/Simulink software. This configuration allows for
real-time data processing and system adjustments. One of the study's key contributions is the utilization of Trajectory
Control techniques, which govern the arm's movements through pre-defined paths, ensuring optimal efficiency and
accuracy. Furthermore, the study introduces the use of a Smoothing Function to mitigate system over-shoot, thereby
enhancing control precision. The research validates its methodologies through a series of tests. Results indicate that the
robotic arm successfully navigates to predetermined positions with error magnitudes as low as 2.8587, 5.7340, and
4.4406 in the A, B, and C motor axes, respectively. These outcomes demonstrate the system's potential for high-
precision tasks in medical and industrial settings.

Keywords: MATLAB/Simulink, Robotic Arms, Trajectory Control.

1. INTRODUCTION

In contemporary times, robotics has become an integral part of human life, penetrating various sectors from
healthcare to industrial applications. Rapid advancements in robotic technology have enabled robots to perform
tasks that are hazardous or beyond human capabilities, such as disaster relief, bomb disposal, and chemical
processing. One crucial aspect of robotic development is motion control, which encompasses hardware and
software systems that drive the robot's movements. Software such as MATLAB/Simulink [1]-[4] offers
comprehensive capabilities ranging from algorithm development and mathematical modeling to system simulation. It
is widely applied in electrical engineering, energy storage, and complex system response analyses. On the
hardware side, microcontrollers like Arduino [5]-[18] have emerged as effective platforms for control, thanks to their
compatibility with a range of programming languages and their ability to generate Pulse Width Modulation (PWM)
signals for motor control. Control systems [19]-[22] typically employ techniques such as PID control [23]-[26] and
Fuzzy Logic control [27]-[33] to optimize motor efficiency. Recent developments even include innovative algorithms
like the Enhanced Artificial Transgender Longicorn Algorithm and Recurrent Neural Networks [34] for stabilizing
Brushless DC (BLDC) motors. However, despite these advancements, there is a need for more sophisticated
control algorithms that can better mimic human-like movements. Thus, our research aims to design, develop, and
test a robotic arm modeled after human arm movements. The robotic arm is controlled using a combination of
MATLAB/Simulink software and Arduino hardware, implementing Trajectory Control techniques to achieve the
desired motion paths. Smooth Functions are also incorporated to minimize system overshoot and enhance
accuracy.

In this research, the focus is on designing and developing a robotic arm that simulates the movements of a
human arm. The robotic arm is equipped with specific functionalities, including shoulder lifting, lateral arm
sweeping, and elbow folding and extending. MATLAB/Simulink is employed for controlling these movements, and
various tests are conducted to assess the efficiency of the robot's mobility. The study aims to contribute to the field
by enhancing the understanding and optimization of robotic arms that closely emulate human arm dynamics.

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2. RESEARCH METHODOLOGY

This study encompasses various components such as hardware structure design, system control, current
regulation through motors, and the circuits used in designing the robotic arm. The details are elaborated under the
following subheadings.

2.1. Hardware Structure Design

In designing the hardware structure, CATIA software is utilized to model the robotic arm. This research aims to
simulate human arm movements based on human anatomy, featuring a 4-axis movement system, as shown in Fig.
3.1. This system comprises 1) vertical shoulder movement, 2) lateral shoulder sweeping, 3) elbow folding and
extending, and 4) a gripping hand capable of twisting in and out, as illustrated in Fig. 1.

Figure 1. Depiction of various pivot points of the simulated robotic arm.

The complete setup, as discussed, operates in tandem as shown in Fig. 2. The movement is actuated by a
total of three motors, referred to as Motors A, B, and C. Motor A controls the lateral shoulder sweeping, Motor B
controls vertical shoulder movement, and Motor C simulates elbow folding and extending. The motors are governed
by PWM signals from the microcontroller, directing electrical pulses to different motors. Once the motors rotate
along the various axes, the encoder measures the angles and sends electrical feedback to the microcontroller. This
data is then relayed to a computer for further analysis.

Figure 2. Display of different operational pivot points of the simulated robotic arm.

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2.2. Electronics Design Section for Robotic Arm Control System

In the design of the robotic arm control system, the research comprises three major components for operational
control.

The Primary Processing Unit involves a computer system utilizing MATLAB/Simulink software for reading
various parameters of the robotic arm operation. This data is processed to direct the robot towards a specified
target.

The Secondary Processing Unit serves as a signal encoder for data transmission between the computer and the
microcontroller board. This unit is responsible for sending processed parameters from the computer to drive the
motors, and for receiving sensor data to specify the positions that have been moved. This data is then sent back to
the computer for further processing.

The Motor Control Unit consists of a motor driver circuit, a DC motor, and an adjustable resistor. This unit
receives the command to operate the motor, directing it to various desired positions to achieve the specified
objectives, as illustrated in Fig. 3.

Figure 3. Demonstrates the Operation of the Simulated Robotic Arm.

2.3. Robotic Arm Gripping System

For object gripping control in this research, a Metal Robotic Arm Gripper equipped with optional servo motors
MG995 or MG996R is selected. The system incorporates two servo motors that manage the gripping and twisting
actions of the robotic arm. These motors operate under the control of an Arduino UNO microcontroller, which
receives operational commands to drive the motors according to the desired program, as depicted in Fig. 4.

Figure 4. Illustrates the Functioning of the Simulated Robotic Arm.

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2.4. Prototype Robotic Arm Implementation Results

The study and design phase of the robotic arm is depicted in Fig. 1. The arm is constructed using square steel
tubing with dimensions of 25.4 x 25.4 x 2 mm. The assembly follows the design specifications and the prototype is
showcased in Fig. 5.

Figure 5. Illustrates the Designed and Assembled Robotic Structure .

The operation of the robotic arm involves three distinct motors. Motor A is positioned at the base of the arm and
serves to rotate it through wide angles, simulating human shoulder movement. Motor B controls the arm's vertical
lift, analogous to the upper arm movement in humans. Lastly, Motor C allows the robotic arm to perform lateral
sweeping actions, resembling the human elbow joint. These functionalities are detailed in Fig. 5.

2.5. Designing a PID Control System for the Robotic Arm

The PID control system, short for Proportional-Integral-Derivative control, operates on closed-loop control
systems, also known as feedback control systems. Modern automation has seen ongoing advancements in
techniques and methods to improve the efficiency of continuous control systems. The PID controller, as shown in
Fig. 6, remains the most widely accepted approach in industrial applications due to its straightforward structure,
uncomplicated design, and adaptability across various control tasks.

Figure 6. Block Diagram of the PID Control System.

The PID control mechanism comprises three sub controllers, 1) The Proportional term, or P-controller 2) The
Integral term, or I-controller 3) The Derivative term, or D-controller. In regard to PID control theory, the framework
exists in the form of a Continuous-Time PID controller. To implement this in a Microcontroller Unit (MCU), one needs
to adapt it to a Discrete-Time PID controller, which can be derived from the continuous-time PID controller theory as
expressed in Equation (1).

k
e(k ) − e(k − 1)
u ( k ) = K p e( k ) + K i  e( k ) + K d (1)
0 t

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2.6. Program Structure Design using MATLAB/Simulink

For designing the control system, the researchers have implemented PID control, dividing the control into three
segments based on the motors in each axis. Trajectory Control is employed to dictate the motion paths over time.
Within the program, there are setpoints represented by boxes named in_m1, in_m2, and in_m3, which define the
desired motion paths for each motor. These setpoints are then fed into a Sub System box, containing the control
system's set of commands. The results are displayed on a display screen and a scope screen, indicating the
working status between the set values and the system's output, as shown in Fig. 7.

Figure 7. Illustration of the Program used for Trajectory Control.

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Each Sub System in Fig. 7 has been encapsulated in a block diagram for ease of use. Examples are
demonstrated, where the input data for control includes in_m1, in_m2, in_m3, Arm, and Keeper1. This displays the
movements of the robotic arm as defined, illustrated in Fig. 8, which shows the control section and the conditions for
setting the motors' movements, including verifying the positions of each motor.

Figure 8. Example of Sub Systems in the Program used for Trajectory Control.

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2.7. Defining the Motion Path for Robot Control

To control the robot's movements, the control program begins by setting the robot's coordinates to an initial
system state. Specifically, the robot must return to its origin where the coordinates for axes A, B, and C are set to 0
degrees. The initial state values are set to continuously control the angles towards predetermined points and enable
repetitive operation. This is possible through the use of the preliminary Simulink program, as shown in Fig. 7. In
specifying the robot's movements, two types can be defined: Step input and smooth function. In this study, step
input will be used to establish the motion path, as presented in Table 1. The system equations for each axis are
applied, and a sampling time of 0.055 ms has been chosen for control system data collection.

Table 1. Table demonstrating the test results of the robot arm's step input
Step time (k)
Process Setpoint A (Deg) Setpoint B (Deg) Setpoint C (Deg)
Start (X) End (Y)
0 0 94 0 0 0
1 95 177 40 0 0
2 178 279 40 80 0
3 280 357 40 80 60
4 358 435 60 80 60
5 436 519 60 60 60
6 520 597 20 60 60
7 598 675 20 80 60
8 676 765 0 80 60
9 766 853 0 0 60
10 854 909 0 0 0

For the smooth function-based motion path, data is collected at a sampling time of 0.055 ms. The values
determined for the step input from Table 2 are used to define the path. The path is approximated using the Smooth

function equation, , as per Equation 2. This enables the construction of a motion path based on the
smooth function for system control.

(2)

3. RESULTS

In our experiments employing Trajectory Control, the motion paths were predefined as per Table 1 to test the
robotic arm's ability to reach its target destination. Using the software depicted in Fig. 7 and the smooth function-
based movement system, responses were recorded and are displayed in Fig. 9 - Fig11. These figures demonstrate
the movements of motors A, B, and C according to the predefined angles listed in Table 2.

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Figure 9. Displaying the Movement Results of the System in Motor Axis A.

Figure 10. Displaying the Movement Results of the System in Motor Axis B.

Figure 11. Displaying the Movement Results of the System in Motor Axis C.

From the data collected, which is presented in Table 2, the robotic arm effectively followed the predefined motion
paths for each axis, as shown in Fig. 9- Fig. 11. Motor A, Motor B, and Motor C performed with RMS errors of
2.8587, 5.7340, and 4.4406, respectively, indicating the system's efficient control over movement.

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Table 2. Table demonstrating the test results of the robot arm's step input

Illustrations of the Robot's Showcasing the Operations of

Step Setpoint A Setpoint B Setpoint C
Movements the Robot Arm's Pivot Axis

Each axis is set to zero in the

0 0 0 0
system as specified.

Motor A is set to 40 Deg to

1 40 0 0 control the pivot at the shoulder
position.

Motor B is set to 80 Deg to

2 40 80 0 control the shoulder's downward
movement.

Motor C is set to 60 Deg to

3 40 80 60 control the elbow's folding
inward.

Motor A is set to 60 Deg to

4 60 80 60 control the shoulder pivot for
inward rotation.

Motor B is set to 60 Deg to

5 60 60 60 control the shoulder's upward
movement.

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Motor A is set to 20 Deg to

6 20 60 60 control the shoulder pivot for
outward rotation.

Motor B is set to 80 Deg to

7 20 80 60 control the shoulder's downward
movement again.

Motor A is set to 0 Deg to control

8 0 80 60 the shoulder pivot for outward
rotation.

Motor B is set to 0 Deg to control

9 0 0 60 the shoulder's upward
movement.

Motor C is set to 0 Deg to control

10 0 0 0
the elbow's unfolding outward.

During the experiment, signal values were collected from each axis. The researchers used System
Identification commands to approximate the transfer functions for each axis. The approximations were made in the
Time Domain, using Discrete Time equations and a sampling time of 0.055 seconds. The transfer function
equations for each axis are represented by Equations (3), (4), and (5).

(3)

(4)

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(5)

CONCLUSIONS

This research focuses on designing and implementing a MATLAB/Simulink-based control system for a robotic
assistant's arm, capable of various movements like lateral arm sweeping, arm folding and unfolding, vertical arm
lifting, and object grasping. The design incorporates four pivot points to emulate human-like arm mechanics.
Notable outcomes include the robot's ability to move according to user-defined coordinates and execute preset,
time-dependent system commands. The robot can also mimic human anatomical arm movements and incorporates
a PID control system for error compensation and system stability. Equations governing the robot arm's mechanics
were also derived, providing a foundation for future development and computational simulations.

ACKNOWLEDGMENTS

The researchers would like to express their heartfelt gratitude to the Research Institute, Academic Services
Center, and the College of Biomedical Engineering at Rangsit University for their generous financial support of this
research. Special appreciation is also extended to Research Assistant Manutsawee Kiew-ong-art for her invaluable
assistance in data collection. Additional thanks are due to our project advisors Nuntachai Thongpance, Anantasak
Wongkamhang, and Anuchit Nirapai for their invaluable guidance and expertise.

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DOI: https://doi.org/10.15379/ijmst.v10i3.1974

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