VIII International Conference “Heavy Machinery-HM 2014”, Zlatibor, 25-28 June 2014, D.41-44 *Corresponding author: gokmen@cs.deu.edu.tr Position Control of a Three Degree of Freedom Robot Manipulator Gökmen Katipoğlu 1 , Savaş Takan 2 1 Dokuz Eylul University, Computer Engineering Department, İzmir, Turkey 2 Izmir Institute of Technology, Computer Engineering Department, Izmir, Turkey Robotics is the area of science which analyzes appliances which are able to perform the desired task, to do physical acts and are supposed to replace man. Meanwhile Robotics is the shared technological area with all basic engineering fields. In order to have an understanding of robots' structure and fields of application, it is essential to use data network of basic engineering ( including: mechanical, electrics and electronics, computer and industrial engineering). Robotics is the common outgrowth progressed and developed by all these engineering fields.In analyzing different stages of designing and making a robot one can see that it is the shared result of all engineering fields mentioned above. Generally speaking, robot is a mechatronic device able to perform pre-determined tasks, in this study gradual development and general design of a hand robot is investigated. This hand robot can be used for different intents. For instance it can perform as a classification robot. its mechanic structure allows this performance. Five different servo-assisted motors facilitate its movements in any particular way. Since biggest advantage of servo-assisted motors are the ability to make movements in the set angle by controller and high sensitivity. In this study , the movements of limbs in desired angles to desired points are computed using reverse kinematic equations. Atmega 2560 version of Arduino processors is applied as micro-processor. the main advantage of Atmega 2560 is allowing the robot hand to be used for different intents. also existence of different communication protocols which enables writing of different programs is another advantage. process speed of card makes it possible for the robot to perform better and lets the limbs to do desired action at the desired moment. for example if we decide to use it as a classification robot, it will be able to take out the material on the conveyor at the right moment and put them in the pre- determined spot. In the Home position it waits for newly arriving material by going backward. servo-assisted motors are used to make delicate actions like this possible. these motors are corresponded properly by Atmega 2560 to allow proper performance for robot. Keywords: Forward kinematic, servo motor, arduino, microcontroller 1. INTRODUCTION Robotics is the shared application area of engineering fields such as aerospace engineering, aircraft engineering, control engineering but it is mostly affected by mechanical electronic and mechatronic engineering fields. Robotics is the field of science which is dealing with developing the technology of electromechanical devices called robots and making it possible to use them in the desired area. In its history, Ctosibius is accepted as the father of Robotics who has done pioneering projects in century. Ctosibius is the inventor of water clock which is more famous than him. He improved the existing water clock, his water clock was made up of a storage which was filling with water us a special rhythm. As the storage was filled the float inside ascended and the needle on tip of it marked this ascension on a cylinder. Robotics began mechanical-based and continued with invention of electricity and then with the invention of electrical devices it conjoined electronics. Along with the technological developments, developments happened in robots’ function and they started having more part in our daily lives because robots performed the action which they are programmed for directly, the error has been reduced drastically , so they are used to do every day chores or any kind of mass production projects. Even though the first that comes to mind as we hear robot is a device shaped and moving like human, resembling the most famous ‘humanoid’ robot Honda Asimo, but the features and functions of robot differs. Robot is a mechanical device with electronic components performing as programmed under human control, nowadays they are mainly used in industrial production. In automotive industry many robots with distinct functioning are exploited. Generally used robots are manipulator type functioning ones. These organ shaped robots are used for functions like welding, assembly and painting. Issac Asimov’s robot series defined robots’ creation as a mean of serving human beings. A robot’s personal aims can never be preferred to those of human. This is stated as three robotics law. This law is the baseline for the ethical and legal relations among human and robots. Law of Robotics: 1. a robot may not injure a human being or through inaction allow a human being to come to harm. 2. a robot must obey the orders, given to it by human beings except where such orders would conflict with the first law. 3. a robot must protect its own existence as long as such protection does not conflict with the first or second law. Robots are electronic devices able to detect their surroundings by their sensors, decide based on these detections perform as the made decision, and move or stop moving their organs as action. According to this definition a car controlled by a key board and linked with parallel D.41