Overview
Co-developed a 5DOF robotic arm and built the software needed to reason about its movement. The project combined physical hardware with mathematical modeling and graphical simulation.
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Project Case Study
5DOF Robotic Arm
A five-degree-of-freedom robotic arm combining embedded control, inverse kinematics, and a custom simulation environment.
IMAGE AREAAdd a hero photograph, CAD render, or screenshot of the robotic arm here.
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Inverse Kinematics
The core software challenge was converting a desired end-effector position into joint angles. The inverse kinematics solution provided a mathematical bridge between where the arm should go and how its individual joints should move.
Simulation
Raylib was used to create a 2D visualization and simulation environment. This made it possible to test and visualize arm movement before relying entirely on physical hardware.
Hardware & Embedded
The ESP32 provided the embedded platform for the robotic system. The project required thinking about the boundary between mathematical calculations, software, and physical actuators.
What I Learned
This project strengthened my understanding of coordinate systems, kinematics, C++, embedded development, and the importance of simulation when developing physical systems.