JOYSTICK CONTROL OF A 3D PRINTED ROBOTIC MANIPULATOR FOR STUDENT LEARNING

Authors

  • Nikolay Komitov dept. “Electrical engineering, electronics and automation”, University of Food Technologies (BG)
  • Veselin Mengov dept. “Electronics, communications and information technologies”, University of Plovdiv “Paisii Hilendarski” (BG)
  • Georgi Komitov dept. “Agricultural Mechanization”, Agricultural University – Plovdiv (BG)
  • Evelin Shopov dept. “Electrical engineering, electronics and automation”, University of Food Technologies (BG)

DOI:

https://doi.org/10.17770/etr2025vol2.8600

Keywords:

Arduino, robot, joystick, 3D printing

Abstract

In the present work, the control mode of a robotic manipulator with a joystick when moving an object to a desired position is considered. In automated systems, it is always necessary, in addition to the main automatic mode, to have an additional mode allowing additional adjustment. In addition, it can serve to determine the most suitable trajectory for the robot's motion, both for its recording and for motion training. 3D printing technology was chosen to create the individual details of the robot, which significantly reduces its cost. The details can be restored at any time if necessary. Arduino IDE and Nano board are used as the control development platform. The project is the basis of a student's thesis on automatic control of a robotic manipulator. The finished project will serve to train students and make it easier to adopt and adapt to these modern technologies. This step-by-step project implementation approach was chosen, as it will lead to consolidation and acquisition of new knowledge at each stage of implementation.

   

References

M. Al-Razgan, L. F. Alfallaj, N. S. Alsarhani, and H. W. Alomair, "Systematic review of robotics use since 2005," International Journal of Mechanical Engineering and Robotics Research, vol. 5, no. 2, 2016, pp. 129-132, DOI: 10.18178/ijmerr.5.2.129-132.

R. Zotovic-Stanisic, R. Perez-Ubeda and A. Perles, "Comparative study of methods for robot control with flexible joints," Actuators, 2024, 13, 299. https://doi.org/10.3390/act13080299.

S. Yang, S. Wang and S. Huang, "ROS-based remote control of industrial robot joystick," Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2023;237(1):160-169. doi:10.1177/09544062221115549.

Q. Jiang and Y. Zhang, "Research on Trajectory planning and simulation of six-degree-of-freedom manipulator," Journal of Physics, Conference Series 2528, 2023, pp. 1-6, doi:10.1088/1742-6596/2528/1/012067.

C. Rei, Q. Wang, L. Chen, X. Yan, P. Zhang, L. Fu, C. Wang and X. Liu, "Constant force grinding controller for robots based on SAC optimal parameter finding algorithm," Sci Rep 14, 14127 (2024). https://doi.org/10.1038/s41598-024-63384-2.

D. J. Brooks, M. Lunderville and H. A. Yanco, "Design of a 2D joystick for robot control based on a 6 DOF haptic device, " 2013, IEEE Conference on Technologies for Practical Robot Applications (TePRA), Woburn, MA, USA, 2013, pp. 1-6, doi: 10.1109/TePRA.2013.6556378.

M. Wagner, D. Avdic and P. Heß, "Gamepad control for industrial robots - new ideas for the improvement of existing control devices," In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, vol. 2, ICINCO, 2016, pp. 368-373. DOI: 10.5220/0005982703680373.

B. Zhang and P. Liu, "Control and benchmarking of a 7-DOF robotic arm using Gazebo and ROS," PeerJ Computer Science 7:e383, 2021, https://doi.org/10.7717/peerj-cs.383.

S. Bordoni and G. Tang, "Development and assessment of a contactless 3D joystick approach to industrial manipulator gesture control," International Journal of Industrial Ergonomics, Elsevier, vol. 93, 2023, pp. 1-14, https://doi.org/10.1016/j.ergon.2022.103376.

A. Molina-Leal, A. Gómez-Espinosa, J. A. E. Cabello, E. Cuan-Urquizo and S. R. Cruz-Ramírez, "Trajectory planning for a mobile robot in a dynamic environment using an LSTM neural network," Applied Sciences, vol. 11, issue 22, 2021, pp. 1-21, https://doi.org/10.3390/app112210689.

N. Srivastava and J. Joshi, "Raspberry Pi controlled robotic arm," International Journal of Research, vol. 3, issue 5, 2016, pp. 54-58.

M. Z. B. A. Karim and N. M. Thamrin, "Servo Motor Controller using PID and Graphical User Interface on Raspberry Pi for Robotic Arm," Journal of Physics: Conference Series, vol. 2319, issue 1, pp. 1-10.

S. A. Watson and P. N. Green, "Robust control of a micro-autonomous underwater vehicle (μAUV) using low-tolerance components," IFAC Proceedings Volumes, Elsevier, vol. 45, issue 5, 2012, pp. 7-12.

F. Dukan and A. J. Sørensen, "Joystick in closed-loop control of rovs with experimental results," IFAC Proceedings Volumes, vol. 45, issue 5, 2012, pp. 293-300.

C. Franciscone, EEZYbotARM Mk2 - 3D Printed Robot, https://www.instructables.com/EEZYbotARM-Mk2-3D-Printed-Robot/[Accesed March 30, 2025].

Downloads

Published

08.06.2025

Issue

Vol. 2 (2025): Environment. Technology. Resources. Proceedings of the 16th International Scientific and Practical Conference. Volume 2

Section

Information Technologies

License

Copyright (c) 2025 Nikolay Komitov, Veselin Mengov, Georgi Komitov, Evelin Shopov

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

How to Cite

[1]
N. Komitov, V. Mengov, G. Komitov, and E. Shopov, “JOYSTICK CONTROL OF A 3D PRINTED ROBOTIC MANIPULATOR FOR STUDENT LEARNING”, ETR, vol. 2, pp. 213–216, Jun. 2025, doi: 10.17770/etr2025vol2.8600.