Trajectory Kinematics Control for a Robotis Bioloid Premium Arm

https://doi.org/10.58571/CNCA.AMCA.2023.061

Resumen: This paper addresses the problem of trajectory tracking in one arm of the Bioloid Premium humanoid robot. The kinematics modeling of the left arm was obtained using the Denavit-Hartenberg methodology. A kinematics control strategy based on state feedback and Input-Output Linearization technique was employed to achieve accurate tracking of the desired trajectories. A C language code was written to reprogram the CM-530 controller of the Bioloid Premium to allow it to interpret and execute the trajectory positions. In addition, wireless communication was established using ROS as the development platform. The experimental results demonstrate the success of the proposed approach in applying kinematic control on the robotic arm, offering an accurate and advanced alternative to the mobility options natively enabled by the ROBOTIS software.

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Castañeda González, Roberto de Jesús; Archila Sánchez, Eliuh Gabriel; García, Luis; Cervantes Morales, Juan Diego; Santiaguillo-Salinas, Jesús. Trajectory Kinematics Control for a Robotis Bioloid Premium Arm. Memorias del Congreso Nacional de Control Automático, pp. 449-454, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.061

Palabras clave

Robótica y Mecatrónica; Control Clásico; Tecnología para Control

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