Hobby project I made during the weekend, not fully completed but I proved the concept. The robot currently moves with 3 joints controlled by motors and closed-loop PID using AS5600 I2C magnetic encoders. Mechanical parts are fully 3D printed. Definitely still needs a lot of improvement. I’m planning to redo the project in the future when I have the time, aiming to make a full 6-joint version and switch to stepper motors instead of DC motors and encoders.
This repository contains resources for the robotArm project, including CAD files, controller code, and ROS nodes.
ROS package handling motion control, hardware interface, and launch configurations.
ROS node for subscribing to feedback data or sensor output.
Arduino sketch for serial communication between ROS and the robot via rosserial.