Wizer21/6Servo_Robot_Arm

6-axis Robot arm

6 Servomotor Arm 🤖

This project is a 6-axis arm, controlled on a Raspberry Pi.

The arm can be managed from an Xbox controller. 🎮
By using the calculation method below, I can create vertical or horizontal movements. If, for example, I want to claw to be lowered, I set this new position and calculate from this one, witch should be the new motors postions.

Come see it on youtube ! 🎬

Components

• Raspberry Pi 4B, 4Gb
• The Grab-It arm from Joy_it
• 16 pwm pin card, PCA9685

Programmatical part 🔧

• Python
• Qt for the GUI
• Pigpio for the pin control
• evdev for reading the controller output

To do 📝

• Make the arm fully managed through an Xbox controller
• Create a pattern builder
• Possibility to lock the claw angle
• Connect he arm to a Node.Js api, allowing remote control and including 3D visualizer
• Smoother control