It is a robot manipulator with 4 DOF which was designed in 3d with sketchup and was constructed by 3mm plexiglas. The Arduino platform is the mcu of the system and communicates with desktop pc via serial port. The arduino generates joint or operational space trajectories and send pulses to the rc servo which moves smoothly.
As the result of those trajectories is a trapezoidal velocity profile which characterized
from constant acceleration in start phase, a cruise velocity and a constant deceleration
in arrival phase.
