Overview
A 6-degree-of-freedom robotic arm built around the ESP32 microcontroller, featuring custom embedded firmware, inverse kinematics computation, and a real-time wireless control interface. Designed and fabricated from scratch including mechanical design, electronics, and firmware.
Technical Highlights
- Designed and implemented inverse kinematics solver for 6-DOF arm control
- Developed ESP32 embedded firmware for real-time servo coordination
- Built wireless control interface over Wi-Fi with sub-100ms response time
- Designed custom PCB for power distribution and servo driver integration
- Fabricated mechanical structure using Fusion 360 and FDM 3D printing
Engineering Focus
| Category | Details |
|---|---|
| Hardware | ESP32, servo motors, custom PCB, 3D printed structure |
| Software | Embedded C++, inverse kinematics, WebSocket interface |
| Systems | Real-time control, wireless comms, power electronics |
Outcomes
- Full 6-DOF articulation with smooth coordinated motion
- Sub-100ms wireless command response time
- Custom PCB reducing wiring complexity by 60%
- Repeatable positioning accuracy suitable for pick-and-place tasks