# How to design a controller for a robotic arm given two velocity profiles

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Essentially I have a robotic arm with two linear actuators. Lets say, for example, I wanted the endpoint on the arm (where you see the stepper motors) to move purely in the x direction (extending outwards). Both linear actuators would have to move in tandem with each other at the correct velocities to ensure that they cancel out each others y movements and sum up their x movements.

I have equations that relate the required angular velocity of each segment (and therefore velocities of each linear actuator) to get from point A to point B. I am just confused how to implement this now.

My electronics consist of an arduino and H-bridge. Feedback are potentiometers at the joints.

I'm just looking for general guidance on the procedure, as I am just not sure what steps I need to take here. I have taken a number of classes in control systems, but don't quite understand how to relate all the theory to practice.

• This topic as already a few years but I am confronted to the same problem you had. Do you have any solution available as well as an inverse kinematic model for this arm ? I tried the DH method but I'm quite struggling with linear actuators that converts to an angle rotation. Thank you, Oct 20, 2022 at 20:05