Robots play important roles in day to day
activities of human endeavour and can perform
complex tasks speedily and accurately. Robots are
employed to imitate human behaviours and then
apply these behaviours to the skills that lead to
achieving a certain task in solving the challenges
faced by impaired people in society. This robotic arm
was achieved using light-weight steel iron for the
frames, a moderate torque MG995 Towerpro, and
servo motor. Two Atmega328 Arduino
microcontroller was employed to control the motors
through the use of pulse width modulation
technique. Mathematical models were developed for
the mechanism to represent the kinematics involved
at each joint with mathematical variables. Then, the
stability of the system was carried out using a step
input signal being a type zero system.