Abstract
This research presents the development and design both of structure and controller programming for a 3-
axis articulated robot arm for material handling. The development steps consist of to be designing the
structure and actuation system of robot arm by using aluminum beam, stepper motors, spur gears,
chains and chain sprockets. This robot has a working space about 200,000 cm3. The digital control
system using interface card-NI USB 6501 for transfers command data between computer and 5 stepper
motor drivers. The second step is the Labview programming development for control those 3 axes such
as a waist, shoulder and elbow, including 2 axes of a gripper. The controller algorithm development can
control all of rotation joints, synchronously. In order to moving the end-effecter from a starting point to