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https://github.com/soroushcro/nodemcu-robotic-arm

A sophisticated robotic arm system powered by NodeMCU ESP8266 microcontroller and controlled via a web interface. This system allows precise manipulation of a 7-servo robotic arm with real-time feedback through an OLED display.
https://github.com/soroushcro/nodemcu-robotic-arm

esp8266 nodemcu robotics robotics-programming

Last synced: 4 days ago
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Host: GitHub
URL: https://github.com/soroushcro/nodemcu-robotic-arm
Owner: Soroushcro
License: mit
Created: 2025-01-24T17:37:26.000Z (5 days ago)
Default Branch: main
Last Pushed: 2025-01-24T17:59:59.000Z (5 days ago)
Last Synced: 2025-01-24T18:30:58.413Z (5 days ago)
Topics: esp8266, nodemcu, robotics, robotics-programming
Language: C
Homepage:
Size: 0 Bytes
Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# Robotic Arm Control System

## Features

- **7-Servo Control**: Includes servos for the base, shoulder (2), elbow, wrist, wrist rotation, and gripper.
- **Web Interface**: Control the arm's movements using sliders or by specifying XYZ coordinates.
- **OLED Display**: Displays real-time system status, including coordinates, arm height, and WiFi access point IP.
- **Forward and Inverse Kinematics**: Supports XYZ coordinate inputs for automatic joint angle calculations.

## Hardware Components

- **7 Servos**:
- Base
- 2 Shoulders
- Elbow
- Wrist
- Wrist Rotation
- Gripper
- **Microcontroller**: NodeMCU ESP8266
- **Display**: OLED Display (SSD1306)

## Power Requirements

- **Input Voltage**: 5V
- **Current**: 3A

> ⚠️ **Ensure strict adherence to these specifications to prevent damage to the hardware.**

## OLED Display Features

The OLED display provides key real-time information:
- Current arm height
- X, Y, Z coordinates
- WiFi Access Point IP address
- System status messages

## Control Interface Panels

### Sliders Tab
The **Sliders Tab** provides direct control over individual servos. Adjust the position of each servo using sliders or buttons:
- **Base Rotation**: 0°–180°
- **Shoulder**: 0°–180°
- **Elbow**: 30°–180°
- **Wrist**: 0°–180°
- **Wrist Rotation**: Left/Right buttons
- **Gripper**: Open/Close/Grip buttons

![Sliders Panel](/images/sliders.png)

---

### XYZ Position Tab
The **XYZ Position Tab** allows control through forward kinematics. Input desired **X, Y, Z coordinates** in millimeters to calculate the joint angles automatically. Confirm to execute the movement.

![XYZ Position Panel](/images/xyzposition.png)

## Example Movements

Here are some examples of the robotic arm in action:

![Example Movement 1](/images/arm%20(1).jpg)
![Example Movement 2](/images/arm%20(2).jpg)
![Example Movement 3](/images/arm%20(3).jpg)

## ARM MODEL

The Model used for this project is available here! [Robotic Arm With 7 Servos by jjshortcut](https://www.thingiverse.com/thing:2433)

## Notes and Recommendations

- **Servo Replacement**: The current setup uses standard MG90S micro servos. For improved performance and accuracy, consider replacing the wrist rotation and gripper servos with MG90S servos that include built-in potentiometers for better control.

- **Forward Kinematics Accuracy**: The current forward kinematics implementation has some inaccuracies, since I only wrote it last minute as a proof of concept that we can see the position on the oled.

- **Inverse Kinematics**: Currently, giving negative X and Y values returns incorrect results, do not use them.

- **Gripper Orientation**: The system is designed to maintain the gripper parallel to the ground during movements. This simplifies certain tasks like inverse kinematics calculation but may limit flexibility for specific operations.

### Get Started
1. Clone the repository:
```bash
git clone https://github.com/Soroushcro/nodemcu-robotic-arm.git
```
2. Follow the documentation to assemble the hardware and configure the web interface.

Feel free to contribute by opening issues or pull requests!

Here’s the additional section to include in the **README.md**: