Tarun Maandi

4-DOF Robotic Arm

Designed, 3D printed, and controlled a 4-DOF robotic arm. This project involved:

• Utilizing Adafruit servo motors for precise joint control.
• Implementing forward and inverse kinematics using Denavit-Hartenberg parameters for accurate positioning.
• Developing a PID controller to provide accurate and stable position control, ensuring smooth and responsive movements.
• Controlling the arm via a Raspberry Pi, enabling flexibility and extensibility of the control system using I2C communication.

Code is available here.

Technologies Used: 3D Printing, Raspberry Pi, Python, I2C, PID control, Adafruit Servo Motors, Denavit-Hartenberg Parameters

Project Type: Personal Project (Building upon knowledge from University of Michigan ROB 550)

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