6 Degree of Freedom (DOF) Robotic Arm with Closed Loop Position Control

Chuah, Yu Guan (2026) 6 Degree of Freedom (DOF) Robotic Arm with Closed Loop Position Control. Final Year Project (Diploma), Tunku Abdul Rahman University of Management and Technology.

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Abstract

This project presents the design and development of a robotic arm intended for autonomous robotics research and engineering education. With the objectives being the design and construction of the robotic arm, to design a closed loop control stack, and to evaluate the capability of the robotic arm. Execution of the projectwas carried out through the literature review, system design, hardware research and selection, prototype fabrication and programming, and finally, testing and evaluation. With the final output of this project being the design of a modular robotic arm, a closed loop control stack design, and various performance metrics and consideration for future work. This project contributes to robotics research through development of a modular robotic arm that can be modified for various research applications, as well as serving as an experimenting platform for robotics engineering students