Modeling and Controlling Alternate Circuits of the Educational Robot R5150 using Matlab and an Arduino Chip

International Journal of Electronics and Communication Engineering
© 2022 by SSRG - IJECE Journal
Volume 9 Issue 7
Year of Publication : 2022
Authors : En.fatima ali habqa
How to Cite?

En.fatima ali habqa, "Modeling and Controlling Alternate Circuits of the Educational Robot R5150 using Matlab and an Arduino Chip," SSRG International Journal of Electronics and Communication Engineering, vol. 9,  no. 7, pp. 1-6, 2022. Crossref,


In this article, we worked on the description of the mathematical model of the serial robotic manipulator with five degrees of freedom within the Matlab environment, where the educational laboratory model ROBOT 5150, which is the manipulator of the LAB VOLT family, which has five degrees of freedom and an effective end (pickup) was used as a case study through the kinetic study (study of forwarding and reverse movement) of this robot and its characterization within the Matlab/Simulink environment (modeling it), And alternative circuits were modeled and designed to control this arm using the Arduino mega 2560 chip and Matlab/Simulink software by linking the virtual environment in Matlab with the practical circuits. We have changed the existing controller in the design by the manufacturer and using stepper motors and servo motors, intending to make this article a reference so that students can build and develop programs and programming interfaces without restrictions imposed on drivers and maintenance programs and also use the designed program as an educational tool To gain a good experience in the field of robotic arm control and an understanding of how to program these maneuvers.


Learning Robot 5150, 5-DOF Five Degrees of Freedom, Matlab/Simulink, Arduino mega2560.


[1] IFR, 2012. [Online]. Available:
[2] IFR, "History of Industrial Robots," International Federation of Robotics, Germany, 2013.
[3] Reyad Abuqassem, Mohammed, "Simulation and Interfacing of 5 DOF Educational Robot Arm," Partial Fulfillment of the Requirements for the Degree of Master of Science in Electrical Engineering, Islamic University of Gaza, 2010.
[4] Alaa Hassan Shabeeb, and Dr.Laith A. Mohammed, "Forward Analysis of 5 DOF Robot Manipulator and Position Placement Problem for Industrial Applications," Engineering and Technology Journal, vol. 32, no. 3, 2014.
[5] Hind Hadi Abdulridha, and Dr. Tahseen Fadhel Abaas, "Differential Motion Analysis of Lab-Volt R5150 Robot System," Global Journal of Engineering Science and Research Management, vol. 4, no. 10, pp. 152-160, 2017.
[6] A Kranthi Kumar, T. Pitchaiahand, and N. NarayanaRao, "Robotic Arm Design and Simulation Usingmatlab/Simulink for Drones," International Journal Control Theory and Application, pp. 43-54, 2017.
[7] Amin A. Mohammed, and M. Sunar, "Kinematics Modeling of A 4-DOF Robotic Arm," International Conference on Control, Automation and Robotics, 2015. Crossref,
[8] Ali T.Hasan et al., "Artificial Neural Network Based Kinematics Jacobian Solution for Serial Manipulator Passing Through Singular Configurations, "Advances in Engineering Software, vol. 41, no. 2, pp. 359-367, 2010.
[9] Ali T.Hasan et al., "An Adaptive-Learning Algorithm to Solve the Inverse Kinematics Problem of a 6DOF Serial Robot Manipulator," Advances in Engineering Software, vol. 37, no. 7, pp. 432-438, 2006. Crossref,
[10] Fernini, Brahim, "Kinematic Modeling and Simulation of a 2-R Robot Using Matlab/Simulink," International Journal of Robotics and Automation, vol. 1, no. 2, 2012. Crossref,
[11] Sam Cubero, “Industrial Robotics: Theory, Modeling and Control,” Pro Literature Verlag,Germany, pp.964, 2007.
[12] Tower Pro, “MG996r-Servo Motor,” Servo Motor Datasheet, 2014.
[13] Tower Pro, “SG90-Servo Motor,” Servo Motor Datasheet, 2014.
[14] VaibhavV, "Design Analysis and Place Robot with Mechanical Gripper," Industrial Science, vol. 2, no. 2, 2015.
[15] Jadran Lennarčič, and B. Roth, "Advances in Robot Kinematics Mechanisms and Motion," Springer, Netherlands, pp.500, 2006.
[16] Shweta Patil, and Sanjay Lakshminaryanan, "Position Control of Pick and Place Robotic Arm," EIE's 2nd International Conference Comp, 2012.
[17] Goldykatal et al., "Design and Operation of Synchronized Robotic Arm," International Journal of Research in Engineering and Technology, vol. 2, no.8, pp. 297-301, 2013.
[18] Naveen Kumar et al., "Design and Analysis of Carrying Robot Using Arduino Board Control System,"Imperial Journal of Interdisciplinary Research (IJIR), vol. 2, 2016.
[19] Margolis M, “Arduino Cookbook,” O'Reilly Media, p. 800, 2016.
[20] Riazollah Fi, Servo Motors and Industrial Control, Theory.Second Edition, Springer, p. 235, 2014.
[21] Massimo B, Getting Started with Arduino, Second Edition, O'Reilly, USA, p.130, 2011.
[22] Julien Bayle, "C Programming for Arduino,” Packt Publishing, Birmingham – UK, p. 512, 2013.