Improving servo motor control sensitivity in wrilessly controlled arduino nano supported robot arm applications with flex sensors

The aim of this study is to improve the servo motor control precision in arduino nano supported robot arm applications that are wirelessly controlled with flex sensors. In this study, experimental research method and software development method were used. The position angles required for the servo motor control were determined by measuring the positions of the flex sensors simultaneously with the digital data obtained by serial communication method and a sensitive multimeter measuring instrument. A table was created for the data obtained by serial communication and the resistance values created by the finger movements of the flex sensors separately for each finger. In order for the robot arm to perform the desired movements, the driving angles required for the control of the servo motors have been determined with the data in this table. Each flex sensor has a servo motor that generates control data. In the data table created, there are flex sensor resistance values of all finger movements that perform the control, instant analog reference values obtained by serial communication, and servo motor driving angle values created in response to these values. The "analog-digital data conversion" formula, which is a first in the literature, was designed to convert the resistance changes created by the flex sensors according to their bending states into digital data, and the digital data required for the control of the servo motors were obtained without the need for a serial communication connection. An application method, which is a first in the literature, is developed for the precise control of the servo motors on the robot arm and the finger movements of the robot hand in the desired range, in which the servo motor control angle ranges are determined.