This project simulates and controls a 2-joint robotic arm in real-time using a graphical interface and TCP communication. The Python-based GUI enables interactive control of arm positioning via inverse kinematics, and communicates the calculated joint angles to an ESP32 microcontroller over a Wi-Fi TCP connection. The ESP32 receives the angles and drives two servo motors to achieve the desired arm pose.

Features 2D Simulation with Inverse Kinematics (Python + Matplotlib) Real-time GUI Input using Tkinter for target position control Smooth Arm Animation with easing transitions TCP Server on PC for sending angles TCP Client on ESP32 for receiving commands Servo Control on ESP32 using FreeRTOS tasks Reachability Handling for out-of-range targets

Tech Stack Python (matplotlib, tkinter, socket) C (ESP-IDF for ESP32) Wi-Fi TCP communication Servo control logic with safety limits