The 6-Axis Robotic Arm project combines mechanical engineering design, inverse kinematics algorithms, and custom motor control drivers. Built with custom 3D-printed carbon fiber structural joints and high-torque stepper motors, this robotic arm performs high-precision pick-and-place tasks, object sorting using computer vision, and trajectory smoothing for industrial automation demonstrations.
Problem Statement
- Commercial industrial robotic arms are prohibitively expensive for educational engineering labs.
- Students lack hands-on experience tuning inverse kinematics and closed-loop motor control algorithms on physical hardware.
Project Objectives
- Build a low-cost, open-source 6-axis robotic arm capable of sub-millimeter precision.
- Implement inverse kinematics trajectory planning using ROS2.
- Integrate computer vision for autonomous object detection and pick-and-place operation.
Key Features
- Sub-millimeter pick & place spatial accuracy
- Inverse kinematics closed-loop trajectory calculation engine
- Camera-guided color & shape sorting pipeline
- Manual joystick & web interface control modes