2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)
Teaching and Learning Robotic Arm Model
Kadirimangalam Jahnavi
Department of Electrical and Electronics Engineering,
Amrita School of Engineering, Coimbatore,
Amrita Vishwa Vidyapeetham, Amrita University
India
kjahnavi94@gmail.com
Abstract— In this paper, the design and development of a
robotic arm controller that enables use of a robotic arms as
practical laboratory model for teaching and learning of robot
arm algorithms is presented. The proposed system consists of
OWI robotic arm with 5-Degrees Of Freedom (DOF) with DC
motors for each joint movement, Arduino based control unit for
control of arm motion and a MATLAB based Graphical User
Interface (GUI) with kinematics algorithm at the backend
providing user friendly environment for controlling the end-
effector of robot arm remotely. The robotic arm is equipped with
accelerometers to provide feedback to the microcontroller. The
kinematics algorithm is implemented in MATLAB. The
MATLAB based GUI, Arduino controller and accelerometers
together with the robotic arm provide the practical laboratory
model of teaching learning robotic arm platform. This robot arm
also provides stand alone operation for pick and place
application with the use of Arduino controller and
accelerometers.
Keywords—Kinematics; Robotic arm; Arduino;
Accelerometers;
I. INTRODUCTION
Automation and robotics are very closely related as
automation deals with the control of mechanical, electronic,
and computer-based systems [1]. Robotics has got wide scope
in industrial automation as robotic manipulators and automatic
guided vehicles improve efficiency of industrial automation. A
robotic arm is a widely used efficient and preferred electro-
mechanical machine for many applications in most of the
industrial and dangerous areas [2]. Robotic arms, performing
functions similar to human arm with great accuracy, are
mainly used in industries for pick and place and skilled
applications. It provides improved, more efficient and speedy
operation, leading to higher production rates than with human
labor [3].
A robot arm is an electromechanical device consisting of
joints and links, driven by motors or other actuators. It is
guided by sensors and controlled through a software program
hosted in a microcontroller. It helps to manipulate and handle
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Sivraj P.
Department of Electrical and Electronics Engineering,
Amrita School of Engineering, Coimbatore,
Amrita Vishwa Vidyapeetham, Amrita University
India
p_sivraj@cb.amrita.edu
parts or tools for performing various operations in different
kinds of real world applications [4]. Due to mechanical
structure and automatic control, a robot arm can carry out a
repetitive task with great precision and accuracy [3]. Robot
arm is widely used in many applications like material
handling, welding, assembling, dispensing, thermal spraying,
painting and drilling [5].
For positioning the arm in robot work space based on the links
arrangement and joints movement five basic robot
configurations are available. Cartesian, cylindrical, spherical,
SCARA and articulated [1]. The most preferred robot arm for
pick and place application has articulated configuration. This
is the best configuration that simulates a human arm and a
manipulator with this type of arm is often referred as an
anthropomorphic manipulator [6]. The work space of this
configuration is spherical in shape. This anthropomorphic
structure is the most dexterous one, because all the joints are
revolute and widely used in industrial applications [7]. The
existing robotic arm models are used for achieving specific
tasks mainly in industries. The fact that cost of such robot
arms is high makes robotic algorithm studies with hardware
models difficult [8]. It is necessary to have robot arm models
that provides user friendly environment for students, which
creates interest and helps in learning different application
specific algorithms.
The work focuses on a design and development of a robotic
arm controller for a 5 DOF articulated robot arm, for pick and
place application that helps to use the robotic arm as a
practical laboratory model for teaching and learning purpose
and also as an automated model on need basis. The laboratory
model operation of the robotic arm is achieved by controlling
the robotic arm movement remotely through a MATLAB
based GUI with kinematics algorithm and accelerometer
sensor based feedback system doing the motion control. For
the standalone operation of the robotic arm the robot arm
movement and operation are controlled by algorithms ported
on to an Arduino controller, and DC motors equipped at each
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joint provides the movement of the robot arm and
accelerometer mounted at each joint provides feedback to the
microcontroller. This research work helps in easy
understanding, teaching and learning of many robotic arm
algorithms like kinematics, trajectory planning, dynamic
motion control etc. and provides the practical idea about
design and development of robot arm.
This paper has been organized as follows section 1 describes
the introduction and objective of the work. Section 2 deals
with existing work done in this related area. Section 3
provides information regarding system overview of proposed
system. Section 4 discuss about kinematics solution of a
robotic arm. Section 5 deals with simulation results and
section 6 explains hardware implementation using OWI
robotic arm. Section 7 states the conclusions and the
references considered in the proposed system.
II. RELATED WORK
A Robot arm is a type of mechanical arm, usually
programmable, with similar functions to a human arm and it is
mainly used in different applications such as industrial,
military and medical areas [2].
Wai Mar Myint and Theingi [1] describe design of jointed
robot arm to control the end-effector position using kinematic
modeling. The robot arm was designed for pick and place
application and kinematic control of the jointed arm is done
using MATLAB software. PIC micro-controller and Max-232
are used to drive the motors of the arm and for receiving the
data serially from computer. C. Chandra Mouli et al. [5]
discussed Dexter ER2 5 DOF robot arm control using
LabVIEW and ARM processor. In LabVIEW, analytical
method was used to design inverse kinematic model for the
robotic arm control. Joint angles are calculated and transmitted
to the ARM microcontroller through LabVIEW using parallel
communication. The performance of the robotic arm is
ensured by picking and placing a Hi-Watt 9V battery.
Awelewa et al. [2] explains the development of a 3 DOF
revolute robot manipulator for pick and place operations using
kinematics equations. Light Dependent Resistors (LDR) is
used for identifying the payload. Arduino controller based
circuit is designed to implement the algorithms and servo
motors are used to control the individual joint of the robot
manipulator. Agnihotri et al. [9] describes modelling and
control of 5 DOF robot arm using DH parameters. It aims to
model the forward and inverse kinematics algorithms of a
robotic arm for pick and place application.
Ashraf Elfasakhany et al. [7] discussed the design and
implementation of 4 DOF robotic arm that can perform simple
tasks like light material handling. Servomotors are placed at
each joint of the arm for desired movement; each servomotor
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is equipped with encoder sensor to ensure precise control.
Inverse kinematics calculations are done using LabVIEW and
joint angles are communicated serially to a microcontroller
that actuates the motors to achieve the desired position of
robot manipulator. Wen-Bo Li et al. [10] developed a 4 DOF
Selective Compliance Assembly Robot Arm (SCARA) robot
with 3 rotary joints and 1 prismatic joint to perform pick and
place operations of the circular and rectangular work pieces.
Kinematics analysis is done using MATLAB and work pieces
are calibrated by the camera using OpenCV.
Wen-Bo Li et al. [8] designed robot arm for teaching the
VHDL language. It helps in teaching the design of finite state
machines in VHDL. This robotic arm is designed by adding a
control circuit compatible with FPGA system with the help of
potentiometer based sensors to the OWI robotic arm.
Escandon et al. [6] presents software for monitoring and
controlling the articulated arms using MATLAB simulink. It
helps in understanding the basics of industrial robotics and
acts as educational tool. Fernando Gonzalez et al. [11]
introduced a software based tool for implementing the 2 link
robot arm. The software provides the simulation of motion of
a 2 link robot arm. This tool helps in introduction of robotics
courses.
Literature review of different robot arm models shows the
significance of design and development of arm that provides
both standalone operations for pick and place application and
helps as practical laboratory model for teaching and learning
purpose.
A. Kinematics Algorithm
The kinematics solution consists of both forward kinematics
and inverse kinematics. Forward kinematics is defined as
transformation from joint space to Cartesian space which
provides robotic arm position information where as inverse
kinematics is transformation from Cartesian space to joint
space [1].
Finding the position and orientation of robot arm end-effector
with the joint variables is known as forward kinematics. It is a
mathematical approach to find the homogeneous
transformation matrix in terms of joint-link parameters they
are ‫ڧ‬i- joint angle, di- joint distance, ai- link length, Įi- link
twist at link (i) as in equation (1). The forward kinematics
solution for a robot arm is provided by calculating
homogeneous transformation matrix, which contains the
position and orientation information of end-effector. The
homogeneous transformation matrix of frame (i-1) to frame (i)
consists of rotation about zi-1 axis by angle ‫ڧ‬i, translation
along zi-1 axis by distance di, translation by distance Įi along
xi-axis and rotation about xi-axis by angle Įi as shown below.
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rotation [13]. Each joint is equipped with a DC motor which

Ti = Tz (θi ) Tz ( di ) Tx ( ai ) Tx (αi )
i−1 (1) helps in desired movement of the arm. The microcontroller
§ cosθi −sinθi 0 0·§1
0 0 0 ·§1 0 0 ai ·§1 0 0 0· output through a driver circuit will drive the motors to achieve
¨ ¸¨ ¸¨ ¸¨ ¸ (2)
sinθi cosθi 0 0¸¨ 0
1 0 0 ¸¨0 1 0 0 ¸¨0 cosαi −sinαi 0¸ desired task.
i−1
Ti = ¨
¨ 0 0 1 0¸¨ 0
0 1 di ¸¨0 0 1 0 ¸¨0 sinαi cosαi 0¸ Each joint is mounted with an accelerometer sensor for
¨ ¸¨ ¸¨ ¸¨ ¸
© 0 0 0 1¹© 0
0 0 1 ¹© 0 0 0 1 ¹© 0 0 0 1¹ measuring amount of angle each motor has turned on actuation
§cosθi −sinθi cosαi sinθi sinαi ai cosθi · from the microcontroller to have a closed loop system. Based
¨ ¸
sinθi cosθi cosαi −cosθi sinαi ai sinθi ¸ (3) on feedback given to controller testing and validation of
i−1
Ti = ¨
¨ 0 sinαi cosαi di ¸
¨ ¸ algorithms can be done.
© 0 0 0 1 ¹
IV. KINEMATICS MODEL
III. SYSTEM DESCRIPTION
The block schematic representation of the proposed system is A. Denavit-Hartenberg (DH) Parameters
shown in Fig. 1. It consists of 3 sections, viz., MATLAB
based graphical user interface, Arduino Mega 2560 controller Consider the arm in home position and frames are assigned to
and robot arm. each link of the robot arm to calculate joint-link parameters.
The calculated joint-link parameters, as defined by the
Denavit-Hartenberg (DH) algorithm, are shown in TABLE I.

TABLE I. DH PARAMETERS

Axis (i) ‫ڧ‬i di ai Įi

1 ‫ڧ‬1 l1 0 -90
2 ‫ڧ‬2 0 l2 0
. 3 ‫ڧ‬3 0 l3 0
Fig. 1. (a) Host controller computer with GUI; (b) Robot arm with controller
4 ‫ڧ‬4 0 l4 0

A. Graphical User Interface B. Kinematics Solution

In the graphical user interface section a MATLAB based GUI
with kinematics algorithm at the backend is implemented that The kinematic solution of OWI robotic arm to calculate
provides friendly environment to control the robot arm individual transformation matrix of each joint and final 4x4
homogeneous transformation matrix using DH parameters is
remotely for the purpose of developing a laboratory model
shown below. It consists of 5 DOF, where 1DOF is
robotic arm for teaching and learning purposes.
contributed for gripper movement. Equations (4),(5),(6),(7)
represents transformation matrices at link 0,1,2,3 respectively
B. Controller Unit and all these matrices are multiplied to get end effector
position with respect to link 0 as shown in equation (9).
The microcontroller section will take the input joint angles
serially from MATLAB and actuates the motors at each joint
§ cosθ1 0 − sinθ1 0· § cosθ2 − sinθ2 0 l2 cosθ2 ·
of robot arm to position at desired location in space. Also it ¨
sin θ1 0 cosθ1
¸
0¸ 1
¨
sinθ2 cosθ2
¸
0 l2 sinθ2 ¸
collects information about the actual rotation of each joint of
0
T1 = ¨ (4) T2 = ¨ (5)
¨ 0 −1 0 l1 ¸ ¨ 0 0 1 0 ¸
the robotic arm through accelerometers and helps in achieving ¨ ¸ ¨ ¸
© 0 0 0 1¹ © 0 0 0 1 ¹
the desired target. The ATmega2560 based Arduino
microcontroller is used for communication between pc and § cosθ3 − sin θ3 0 l3 cosθ3 · § cosθ4 − sinθ4 0 l4 cosθ4 ·
OWI robotic arm [12]. ¨ ¸ ¨ ¸
sin θ3 cosθ3 0 l3 sin θ3 ¸ 3 sin θ4 cosθ4 0 l4 sinθ4 ¸
2
T3 = ¨ (6) T4 = ¨ (7)
¨ 0 0 1 0 ¸ ¨ 0 0 1 0 ¸
¨ ¸ ¨ ¸
C. Robot Arm © 0 0 0 1 ¹ © 0 0 0 1 ¹

The robot arm section mainly consists of shoulder, elbow, 0

T4 =0 T11T22T33T4
wrist and gripper joints interconnected by links. The OWI (8)
robotic arm has 5 DOF, base provides 2700 rotation, shoulder
§cosθ1 cosθ234 −cosθ1 sinθ234 −sinθ1 cosθ1[l4 cosθ234 +l3 cosθ23 +l2 cosθ2 ] ·
joint gives 1800, elbow provides 3000 and wrist joint has 1200 ¨ ¸
sinθ cosθ234 −sinθ1 sinθ234 cosθ1 sinθ1 [l4 cosθ234 +l3 cosθ23 +l2 cosθ2 ] ¸
0
T4 = ¨ 1 (9)
¨ −sinθ234 −cosθ234 0 −l4 sinθ234 −l3 sinθ23 −l2 sinθ2 +l1 ¸
¨¨ ¸¸
© 0 0 0 1 ¹

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

3D simulation of a robotic arm using MATLAB Robotics

V. RESULTS AND DISCUSSION
MATLAB based GUI window is created for learning and
teaching operation of any robotic arm is shown below. It
consists of three tabs- learning model, feedback and automated
model.
Toolbox is shown in Fig. 3. Based on user input each joint
position of robotic arm varies and it is shown in simulation
graph. The position and orientation information of robotic arm
provided by homogeneous transformation matrix can be
interpreted using simulation graph. These graphs help in easy
understanding of kinematics algorithm.

A. Learning Model

The user can give number of DOF of robot arm as input,

depending on which, the DOF input windows for joint-link
parameters will pop up for 1 to 6 DOF of robot arm depending
on type of joint. The joint values are communicated to the
Arduino controller and movement of each joint of robotic arm
can be observed by moving the respective slider or by entering
the angle value as shown in Fig. 2.
Fig. 3. 3D Simulation Graph of Robotic Arm

Fig. 2. Learning Model GUI of Robotic Arm

The transformation matrix for individual link and final B. Feedback

homogeneous transformation matrix are calculated and
displayed in GUI window. By varying the number of DOF of
robotic arm the user can observe the change in position and
orientation information of robotic arm and simulation graphs
simultaneously as shown above. Giving joint-link parameters
as input and calculating position information of robotic arm
within workspace in terms of homogeneous matrices and
comparing with feedback creates user friendly environment
for easily understanding the algorithm. This provides feasible
solution for teaching and learning the forward kinematics
algorithm.
A consists of four text boxes for displaying the sensor values
at each joint and window for providing calculated individual
and final homogeneous matrices. The accelerometer sensors
placed at each joint of OWI robotic arm reads the amount of
angle turned by each joint of robotic arm. Arduino controller
sends the values serially and displays in MATLAB GUI
window as shown in Fig. 4. This feedback helps in physically
interlinking the current position of robotic arm to the
information provided by the final homogeneous
transformation matrix and helps to reach the desired target

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

position. The simulation results are tested by varying the joint
angles and all the results are obtained in the form of
homogeneous matrices and graphs. The operation of robotic
arm can be ensured by comparing the homogeneous matrices
obtained by input parameters and through feedback system.
the potentiometer input values and sensor output values are
displayed. Based on these values homogeneous transformation
matrices are provided as shown in Fig. 5.

Fig. 4. Feedback from Accelerometer Sensors

Fig. 5. Automated Model GUI of Robotic Arm

VI. HARDWARE IMPLEMENTATION

C. Automated model Using input values given through GUI or potentiometer,
controller turns the motor to reach desired target.
Potentiometer, mimicking joystick are remotely used for
Simultaneously reads the accelerometer sensor values and
controlling OWI robotic arm. It generates different input
compares with input values and ensures to reach required
voltages, based on these joint angles are calculated and
position as in Fig. 6.
Arduino controls the each joint of the robotic arm.
Accelerometer sensors equipped at each joint of robotic arm
reads the robotic arm position and gives it as feedback to
Arduino controller and ensures the actuation of motors to
reach desired position. In the MATLAB based GUI window

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)
Fig. 6. Flowchart of Robotic Arm Controller
The OWI robotic arm controller is developed using Arduino as
shown in Fig. 7. The position and orientation of the robotic
arm is controlled through MATLAB (GUI) which provides
user friendly environment as well as using potentiometers. DC
motors actuates the each joint of robotic arm through driver
circuit using Arduino controller and accelerometers placed at
each joint provides feedback to the controller and helps in
achieving the desired position.
Fig. 7. Hardware Implementation using OWI Robotic Arm
VII. CONCLUSIONS
The robotic arm controller is designed and developed using
Arduino and MATLAB based GUI. Kinematics algorithm is
implemented in MATLAB. The user provides input through
GUI or using potentiometer to control the each joint of robotic
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arm, which acts as a practical laboratory model for teaching
and learning purpose. Hardware implementation of kinematics
algorithm is done using OWI robotic arm. The accelerometers
feedback is given to Arduino to achieve the desired position of
robotic arm. Thus provides teaching and learning platform of
robotic arm algorithms. The individual transformation
matrices and homogeneous transformation matrices are
determined which provides the position and orientation
information of a robotic arm end-effector.
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[1] Wai Mar Myint, Theingi, “Kinematic Control of Pick and Place Robot
Arm”, International Journal of Engineering and Techniques, Vol. 1,
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[2] Awelewa, Ayokunle A., Kenechukwu C. Mbanisi, Samuel O.
Majekodunmi, Ishioma A. Odigwe, Ayoade F. Agbetuyi, I. A. Samuel,
“Development of a Prototype Robot Manipulator for Industrial Pick-
and-Place Operations”, International Journal of Mechanical
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Arm Controlled using PS/2 Mouse”, International Journal of
Engineering and Technical Research, Vol. 2, Issue 11, November 2014.
[4] Myint, Khin Moe, Zaw Min Min Htun, and Hla Myo Tun “Position
Control Method For Pick And Place Robot Arm For Object Sorting
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[5] Mr. C. Chandra Mouli, Ms. P. Jyothi, Prof. K. Nagabhushan Raju, Prof.
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[7] Ashraf Elfasakhany, Eduardo Yanez, Karen Baylon, Ricardo Salgado,
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[8] Posadas, Hector, Victor Fern, “Affordable Easy-to-use Robotic Arm
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[10] Li, Wen-Bo, Guang-Zhong Cao, Xiao-Qin Guo, Su-Dan Huang,
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[12] https://www.arduino.cc/en/Main/arduinoBoardMega2560
[13] http://www.owirobots.com
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