AMK Robotic Arm

This a project made for the university of baghdad, computer engineering department in 2024, named Wireless Mobile-Controlled Robotic Arm. As the name suggests, a Mobile App (programmed using MIT App Inventor) communicates with an Arduino Board through the HC-05 Bluetooth Module, the Arduino controls the Joint's (Servo Motors) of the Robotic Arm through the PCA9685 Servo Driver.

Preview :

See the Robotic arm in action in the following video :

Requirements :

Hardware:

• Arduino Board.
• HC-05 Bluetooth Module.
• PCA9685 Servo Driver.
• (4) Servo Motors.

Software:

• Arduino IDE.
• PCA9685 Servo Driver Library for Arduino IDE.
• Download the pre-built APK app for android, or use MIT App Inventor to build Robotic_Arm.aia.

Circuit Diagram :

Arm Assembly :

Acknowledgment

• Large part of inverse/forward kinematics maths used in this project were adapted from This Github repository.
• Special thanks to Dr. Asma and Brother Abdulrazaq, without them, I would never have known about robotic arms!