{"id":22514433,"url":"https://github.com/sametgul/roman3d","last_synced_at":"2026-02-13T19:32:35.282Z","repository":{"id":192825761,"uuid":"676504579","full_name":"sametgul/roman3d","owner":"sametgul","description":"A 3-DOF Robotic Manipulator built from scratch. This project includes a data acquisition card design interfacing between the robot and computer, a 3-DOF planar robotic manipulator design, and a Simulink template for implementing and simulating control algorithms.","archived":false,"fork":false,"pushed_at":"2024-09-10T10:35:10.000Z","size":7233,"stargazers_count":1,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-08-23T19:58:01.078Z","etag":null,"topics":["arm-microcontrollers","c","cad-design","circuit-design","control-design","embedded-systems","freecad","matlab","robotic-arm","robotic-manipulator","simulink","stm32cubeide"],"latest_commit_sha":null,"homepage":"","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/sametgul.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-08-09T10:55:21.000Z","updated_at":"2024-09-20T23:36:56.000Z","dependencies_parsed_at":"2025-02-02T03:35:58.897Z","dependency_job_id":null,"html_url":"https://github.com/sametgul/roman3d","commit_stats":null,"previous_names":["sametgul/roman3d"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/sametgul/roman3d","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sametgul%2Froman3d","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sametgul%2Froman3d/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sametgul%2Froman3d/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sametgul%2Froman3d/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/sametgul","download_url":"https://codeload.github.com/sametgul/roman3d/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sametgul%2Froman3d/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29415614,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-13T06:24:03.484Z","status":"ssl_error","status_checked_at":"2026-02-13T06:23:12.830Z","response_time":78,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["arm-microcontrollers","c","cad-design","circuit-design","control-design","embedded-systems","freecad","matlab","robotic-arm","robotic-manipulator","simulink","stm32cubeide"],"created_at":"2024-12-07T03:17:52.144Z","updated_at":"2026-02-13T19:32:35.258Z","avatar_url":"https://github.com/sametgul.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Roman3D: 3 DOF Planar Robotic Manipulator\n\n## Overview\n\nThis repository contains all the necessary components for constructing and operating a 3-DOF planar direct drive robotic manipulator. The project includes:\n\n- **Hardware Overview**: The schematic and layout of the data acquisition card.\n- **Control Unit**: A MATLAB project template for implementing and simulating control algorithms.\n- **Embedded Software**: Software running on the data acquisition card.\n\nYou can find a series of posts about this project on [my personal website](https://sametgul.github.io/categories/roman3d-a-comprehensive-guide-to-constructing-a-3-dof-planar-robotic-manipulator/).\n\nFigure 1 illustrates the schematic of the experimental setup. The control algorithms, referred to as the `Control Unit`, are implemented in MATLAB/Simulink. The custom `Data Acquisition Device` collects encoder signals from the robot and transmits them to the `Control Unit`. It also converts control signals from the `Control Unit` into voltages, which are then amplified by the `Amplificator` before being sent to the `3-DOF Robotic Manipulator`. These experiments are conducted in real-time with a sampling rate of up to 10 kHz.\n\n![Experimental Setup Schematic](figs/setup.png)\n_Figure 1: Experimental Setup Schematic_\n\n## Documentation\n\nFor detailed documentation on each component, please refer to the following sections:\n\n- [Hardware Overview](/docs/hardware.md)\n- [Control Unit Implementation](/docs/matlab_template.md)\n- [Embedded Software](/docs/embedded_sw.md)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsametgul%2Froman3d","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsametgul%2Froman3d","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsametgul%2Froman3d/lists"}