| dc.description.abstract | Robotic arms have been widely used because of their various advantages. First, robotic arms can automate repetitive, high-precision tasks, improving production efficiency and quality control. Secondly, the robotic arm replaces human operation in dangerous and harmful environments, improving working safety. In addition, the robotic arm’s long-lasting high productivity and consistent work efficiency make it suitable for handling high-precision tasks that require a lot of repetitive work, which can be applied to different industries and applications. Traditional robotic arms usually install the motor on the rotating shaft, which leads to the need to consider the shape and size of the motor when designing the robotic arm, and the need to bear the weight of the motor when the robotic arm moves, resulting in increased torque. In order to solve this problem, a dual-axis robotic arm is designed in this thesis. The first axis is driven by a gear, and the second axis is driven by a belt. By installing the motors on the base, the torque of the arm can be effectively reduced. In addition, the hardware of the robotic arm, such as the connecting rod, rotating shaft, and motor base, are all designed and processed by ourselves, which has the advantages of easy disassembly and maintenance. Finally, the tracking accuracy and stability of the robotic arm are also issues that need to be resolved. In this thesis, an advanced controller named adaptive sliding mode controller (ASMC) is designed to perform trajectory tracking control on the self-developed robotic arm, and the tracking accuracy is compared with PID control and ordinary sliding mode control (SMC) to prove the control proposed in this thesis device has a small tracking error. In addition, in order to show that the proposed controller is robust, we used it on the external disturbance that affected the robotic arm and proved its use has small tracking accuracy under the condition of external disturbance. Moreover, it also can effectively solve the perturbation problem from the belt drive and other possible disturbances. | en_US |