Bringing code into the physical world
A robotic arm makes the gap between an instruction and a result very tangible. Motors have limits, linkages introduce geometry, and movement has to be coordinated rather than simply requested.
This project explores two-dimensional pick-and-place movement with six servos and a stepper-driven slider.
The setup
An Arduino coordinates an Adafruit PCA9685 servo controller and a stepper motor using AccelStepper. The slider provides horizontal travel, while the arm moves through a vertical plane.
The control work includes joint mapping, reference positions, and gradual PWM changes for smoother motion.
The difficult part is calibration
A geometric model is a starting point. The real arm also needs measured reference positions and careful testing so that intended movement matches the physical result.
Small changes to timing and position increments can make a visible difference. This is a project where observation is part of the implementation.
Next steps
The next direction is to connect the calibrated movement into a complete pick, place, and reset sequence.
The cover is a schematic illustration. Actual prototype photos and movement footage belong here when they are ready to share.
This page will grow with the work.