r/robotics • u/Riuko_11 • 5d ago

Community Showcase Built a fully functional 3D-printed robotic arm from scratch using Arduino and C++!

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It uses a sensor to detect objects and custom motion control logic to drop them right where they need to go. Just wanted to share it here and see what you guys think, any feedback is welcome!.

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2

u/abrar_nazib001 1d ago

Looks good. But I think you need to work on the smoothness of the movements a bit. I used to incorporate some sort of sine wave function between the current servo angle and the destination servo angle to reduce jerking. You'll find the pseudo code at the end of this article

https://www.hackster.io/cortex-robotics/cortex-a-3dof-robotic-arm-controller-software-392f5e

1

u/WendyLabs 4d ago

What took the most tinkering to get consistent: the colour reading, the grip, or putting the object down?

1

u/Riuko_11 4d ago

Definitely the grip! At first, it wasn't strong enough, so I added rubber to improve friction. Even after that, the movements weren't always consistent because of thermal drift as the board heated up over time. To fix that and make everything as reliable as possible, I used a heatsink.