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.
- 👨💻 A fully programmable robotic arm.
- 📡 Wireless control via ESP32’s built-in Wi-Fi module.
- 🌐 IoT-ready for cloud-based functionality.
✨ 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.
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["AsyncT
8CB2
CP 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
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
| Component | Purpose |
|---|---|
| 🧠 ESP32 | Microcontroller for control. |
| 🌀 Servo Motors | Precise movement of joints. |
| 🛠️ Arduino IDE | Programming environment. |
| 📡 Wi-Fi | Wireless communication. |
- Power on the robotic arm and establish a Wi-Fi connection.
- Use a web-based app, smartphone, or controller interface to send commands.
- Observe the robotic arm executing tasks smoothly.
This project is licensed under the MIT License.
- 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)
coming soon...