This repository showcases a robotic arm project controlled by an ESP-32 microcontroller using Inverse Kinematics. The robotic arm is designed to perform precise movements, enabling tasks such as object manipulation in a defined workspace. It incorporates advanced algorithms for movement control and real-time adjustments.
- Manual Control: For controling robot manually.
- Inverse Kinematics: For precise control of the robot's arm positions.
- ESP-32 Integration: Provides wireless connectivity and control.
- Object Detection: Integration with cameras for identifying target objects.
- ESP-32 Devkit V1 microcontroller
- ESP-32 CAM Ai Thinker or any camera module
- Servos and stepper motors
- Power supply (suitable for servo operation)
- Arduino IDE
- Necessary Arduino libraries (see
libraries,txtor source files) - Python
- Hardware Assembly: Assemble the robot arm with servos, motors, and ESP-32 as per the wiring instructions.
- Software Installation:
- Upload the code to the ESP-32 using Arduino IDE.
- Install required Python packages if simulations are used.
- Connect and access the camera (automation).
- Control manually in browser using websocket (just write the ESP32 IP address in ur browser).
- Run the System: Power on the ESP-32 and control the arm using the provided control mechanisms.
- websocket_bismillah: Code for ESP32.
- accessing_camera: Code for ESP32-CAM.
- main: Main program for algorithm.
- Use the algorithm to calculate arm positions based on desired end-effector coordinates.
- Fine-tune servo angles for optimal movement.
- Monitor the system using the connected interface for real-time feedback.
- Enhanced precision using advanced IK solvers.
- Integration of machine learning for autonomous task handling.
- Expansion of object detection capabilities.
http://dx.doi.org/10.23960/jitet.v13i1.5564
Cheers