This repository is intended to manage the codebase for the Robotics Arm summer project 2025-26 (part of robotics club). It serves as a comprehensive collection of resources including code, CAD models, calculations, and component datasheets. Our aim is to create a well-documented reference that will enable future teams to build upon our work.
(In continuation with the alredy existing hardware)
- replace all motors with SC15
- use the waveshare SC15 servo drive with esp32 more info here
- add a battery powersource (6-12v)
- Redesign the Gripper (will be good if you can upload the final CAD models here as well)
- design the SC15 motor mounts
- Coding part
- solve the inverse kinematic, (or have atleast a rough estimate via trial and error)
- make the controlls in cylindrical coordinates
[r, h, φ]. - design a UI(web) to controll to wirelessly, (as seen in driver demo)
Need to break each tasks for ease and also distrubute the task day wise. For now this is just an overview.
- Design motor mounts for SC15 servos
- Redesign and upload CAD files for the new gripper
- Replace all motors with SC15 servos
- Integrate SC15 servo driver with ESP32
- Add 6–12V battery power source
- Implement inverse kinematics (approximate solution acceptable)
- Develop cylindrical coordinate-based controls
[r, h, φ] - Build a basic web UI for wireless control (refer to Waveshare demo)
- will be following standard git workflow here
- Feel free to suggest improvements via Issues or Discussions
- If you find yourself stuck just raise an issue.