Design, Simulation and Control of a 2 DOF Robotic Arm for Correction and Training of Craft Turning

Danitza Yalli-Villa, Jason Alanya-Villanueva, Angel Bello-Merlo, Carlos Antonio Perea Fabian

Research output: Contribution to journalOriginal Articlepeer-review


The control of a robotic arm is used to solve problems in multiple applications. This article presents the design and control of a 2 DOF robotic arm, which will be responsible for performing the turning of various parts in simulation to optimize the working time, and the safety of people, also, it will serve for the training of machining parts since the robotic arm would simulate the activities that an operator performs traditionally at the time of executing the machining action. The development of the project was carried out in MATLAB software through simulation with various parameters, which showed the speed and the optimal turning time performed by the robotic arm according to the shape of the part. The optimal values of speed and time for turning the four parts presented in the project were found to be in the range of 1mm/s to 5mm/s, resulting in accurate trajectories. The analysis of the speed for turning parts shows that the lower the speed, the more accurate the trajectory of the robotic arm.
Translated title of the contributionDiseño, simulación y control de un brazo robótico de 2 DOF para corrección y entrenamiento de torneado artesanal
Original languageAmerican English
Journal2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
StatePublished - 10 Jan 2022
Externally publishedYes


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