An open-source 5-DOF (Degree of Freedom) 3D-printed robotic arm project. This repository contains the complete electromechanical engineering stack, transitioning from custom Python/Arduino control to a standardized industrial ROS 2 (Jazzy) and Gazebo digital twin architecture.
docs/— Project documentation, research notes, and academic/technical reports.electrical/— Wiring architecture for the RAMPS 1.4 shield.mechanical/— 3D Computer-Aided Design (CAD) models designed in Fusion 360, alongside exported URDF packages for robotic simulation.software/— Core control logic and firmware, divided into:- Kinematics & Teleoperation: Python-based (PyQt5) interactive analytical Inverse Kinematics (IK) and Forward Kinematics (FK) solvers.
- Firmware: Real-time, non-blocking C++ firmware for the Arduino Mega featuring Bresenham's multi-axis synchronization and David Austin's trapezoidal velocity profiles.
- Industrial-Grade Firmware: The Arduino Mega operates as a real-time hardware controller, ensuring synchronous multi-axis movement without stalling by utilizing hardware timer interrupts (Timer1).
- Analytical Kinematics: Fully derived Denavit-Hartenberg (DH) parameters and analytical IK solvers with posture control (Elbow-Up/Down).
- Digital Twin Roadmap: Currently porting the mechanical model into the ROS 2 ecosystem (
ros2_control, MoveIt 2, and Gazebo) for collision-free trajectory planning and simulation.
See the LICENSE file for details.