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This project is my 200+ day journey of building a high-precision, 8-degree-of-freedom robotic arm from scratch while surviving Electrical Engineering.
Moving beyond simple 'open/close' mechanics, this project features a distributed PC-ESP32 architecture with integrated force-sensitivity. This allows the gripper to dynamically adjust its grasp pressure, ensuring safe and reliable handling of diverse payloads, from industrial parts to delicate items.
/1. firmware: ESP32 code for low-latency motor driving and FSR sensor processing./2. ros_ws: The heart of the robot. Contains the URDF, MoveIt2 configurations, and MoveIt Servo nodes for real-time control./3. 3D Model: 3D models (STL/STEP) including my custom-designed planetary gear systems and the new "Control Module."/docs: Technical blogs and design notes on solving EMI issues and closed-loop calibration. (You won't see this directory yet. I'm still working on it.)
- Software: ROS2 Jazzy, MoveIt2, Solidworks.
- Brain: PC/Laptop
↔️ Raspberry Pi↔️ ESP32. - Motors: Nema 17 Stepper Motor.
- Tactile: Force-Sensitive Resistors (FSR) with silicone layer.
- 8-DOF Mechanical Assembly
- URDF & Rviz Integration
- MoveIt Servo Real-time Control
I am a solo student developer balancing college, coding, and hardware. If you find this project helpful:
- Follow the Journey: @kairobyte on Instagram for weekly updates.
- Visit the Site: kairobyte.com for in-depth engineering blogs and the Open Source waitlist.
# Clone the repository
git clone https://github.com/kairobyte/armikochan.git
# Navigate to the workspace
cd armikochan/2.\ ros_ws/
# Build the project
colcon build --symlink-install
# Source and Launch (Refer to /docs for specific launch files)
source install/setup.bash