Robot Arm Controller

This is a custom made controller for the My Design Lab, KAIST.

Hardware

This controller uses a Teensy board with a servo hat, combined together on a custom PCB.

The case was designed on Fusion 360 and 3D printed to house all the electronics.

The building process is open-sourced here:

https://github.com/cgxeiji/mDL-Servo-Controller-PCB-Case

Software

I developed an open-source library to calculate inverse kinematics on Arduino-based systems.

This system is capable of controlling a robot arm using Gcode. I developed a complementary library for Arduino-based systems to encode and decode Gcode.

You can find the source code of both libraries here:

• https://github.com/cgxeiji/CGx-InverseK
• https://github.com/cgxeiji/CGx-Gcode-RobotArm

The interface was programmed on Processing.

The interface can be downloaded from here:

https://github.com/cgxeiji/Processing-Robot-Arm-Controller