🎯 Robotic Arm Project Using ESP32

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🎨 About the Project

This project is focused on building a robotic arm powered by the versatile ESP32 microcontroller. With capabilities for precise motion and wireless control, this project explores the intersection of robotics and IoT.

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🔍 Key Highlights

• 👨‍💻 A fully programmable robotic arm.
• 📡 Wireless control via ESP32’s built-in Wi-Fi module.
• 🌐 IoT-ready for cloud-based functionality.

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🌟 Features

✨ Wireless Control: Operate the arm from a distance using Wi-Fi.
⚙️ Precision Movements: Program tasks with high accuracy.
🛠️ Modular Design: Easy assembly and customization.
📡 IoT Integration: Expandable for cloud-based operations.

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🧭 Workflow Diagram

flowchart TB
    %% Hardware Layer
    subgraph "Hardware Layer"
        direction TB
        ESP32["ESP32 Microcontroller"]:::hardware
        Servos["Servo Motors (joints)"]:::hardware
        PowerSupply(("Power Supply")):::hardware
    end

    %% Firmware Layer
    subgraph "Firmware Layer"
        direction TB
        WiFi["Wi-Fi Subsystem"]:::firmware
        AsyncHTTP["AsyncWebServer Module"]:::firmware
        AsyncTCP["AsyncTCP Module"]:::firmware
        WS["WebSocket Module"]:::firmware
        ServoCtl["Servo Controller Logic"]:::firmware
        RecordLogic["Recording/Playback Logic"]:::firmware
        Buffer((Record Buffer)):::storage
    end

    %% Network Layer
    subgraph "Network"
        direction TB
        AP(("Wi-Fi AP")):::network
    end

    %% Client UI Layer
    subgraph "Client UI"
        direction TB
        Browser["Browser UI (Control Panel)"]:::client
    end

    %% Connections
    PowerSupply --> ESP32
    ESP32 --> Servos
    Browser -->|HTTP| AsyncHTTP
    Browser -->|WebSocket| WS
    AsyncHTTP --> WS
    WS --> ServoCtl
    ServoCtl --> Servos
    WS --> RecordLogic
    RecordLogic --> Buffer
    RecordLogic --> ServoCtl
    RecordLogic --> WS
    WS -->|status updates| Browser
    ESP32 -.->|hosts| AP
    Browser -.->|connects to| AP

    %% Click Events
    click WiFi "https://github.com/rajtilak-2020/robotic_arm/blob/main/Robotic_Arm.ino"
    click AsyncHTTP "https://github.com/rajtilak-2020/robotic_arm/blob/main/Assets/ESPAsyncWebServer-master.zip"
    click AsyncTCP "https://github.com/rajtilak-2020/robotic_arm/blob/main/Assets/AsyncTCP-master.zip"
    click WS "https://github.com/rajtilak-2020/robotic_arm/blob/main/Robotic_Arm.ino"
    click ServoCtl "https://github.com/rajtilak-2020/robotic_arm/blob/main/Robotic_Arm.ino"
    click RecordLogic "https://github.com/rajtilak-2020/robotic_arm/blob/main/Robotic_Arm.ino"
    click Buffer "https://github.com/rajtilak-2020/robotic_arm/blob/main/Robotic_Arm.ino"
    click Browser "https://github.com/rajtilak-2020/robotic_arm/blob/main/README.md"

    %% Styles
    classDef hardware fill:#B8E1FF,stroke:#0077B6,stroke-width:1.5px,color:#003049
    classDef firmware fill:#C1FFD7,stroke:#2D6A4F,stroke-width:1.5px,color:#1B4332
    classDef network fill:#FFE066,stroke:#FFA200,stroke-width:1.5px,color:#7F4F24
    classDef client fill:#FFCCD5,stroke:#D62828,stroke-width:1.5px,color:#6A040F
    classDef storage fill:#E6CCFF,stroke:#6A4C93,stroke-width:1.5px,color:#3C096C

    class Buffer storage
    class PowerSupply hardware
    class AP network

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graph TD
    A[Start Program] --> B[setup Function]
    B --> C[Set Pin Modes]
    B --> D[Initialize Serial Communication]
    B --> E[Start WiFi Access Point]
    B --> F[Configure Web Server]
    B --> G[Configure WebSocket Handler]

    A --> H[loop Function]
    H --> I[Clean Up WebSocket Clients]
    I --> J{Play Recorded Steps}
    J --> |Yes| K[Execute Recorded Robot Arm Steps]
    J --> |No| L[Wait for New Commands]

    F --> M[handleRoot Function]
    M --> N[Serve HTML Control Panel]

    G --> O[WebSocket Events Handler]
    O --> P[On Connect Event]
    O --> Q[Send Current Robot Arm State]
    O --> R[On Disconnect Event]
    O --> S[On Data Event]
    S --> T{Command Type}
    T --> |Move Servo| U[Update Servo Position]
    T --> |Record| V[Start or Stop Recording Steps]
    T --> |Play| W[Start or Stop Playback]

    K --> X[Gradual Movement to Initial Position]
    K --> Y[Execute Playback Sequence]
    K --> Z[Send Real-Time Updates to WebSocket]

    N --> AA[HTML Control Panel]
    AA --> AB[Sliders for Each Servo]
    AA --> AC[Buttons for Record and Play]
    AA --> AD[WebSocket Communication]
    AD --> S

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💻 Technologies Used

Component	Purpose
🧠 ESP32	Microcontroller for control.
🌀 Servo Motors	Precise movement of joints.
🛠️ Arduino IDE	Programming environment.
📡 Wi-Fi	Wireless communication.

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📖 Usage

1. Power on the robotic arm and establish a Wi-Fi connection.
2. Use a web-based app, smartphone, or controller interface to send commands.
3. Observe the robotic arm executing tasks smoothly.

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🛡️ License

This project is licensed under the MIT License.

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🙌 Acknowledgments

• Er Jyoti Ranjan Nayak Sir for guiding us in this project.
• Open-source tools for enabling smooth development.
• Our dedicated team for collaborative efforts.
• K Rajtilak (Team Lead)
• MD Riyasat Alli (Resource Management)
• Bikram Keshari Dash (Technical Lead)
• Biswajeet Muduli (Documentation Management)
• Gargee Dash (Presentation Management)

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