Robotic Arm Controller

Control a 3D-printed robotic arm using two different input methods:

• Hand Gestures Controller (OpenCV)
• Keyboard Controller (Serial Monitor)

This project applies embedded systems and computer vision to control a physical robotic arm in real time.

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Project Structure

robotic-arm-controller
├── include
│   └── keyboardController.h
│
├── opencv_controller
│   ├── CMakeLists.txt
│   ├── gestureController.cpp
│   ├── gestureController.h
│   ├── serial.cpp
│   ├── serial.h
│   ├── .vscode
│   └── src
│       └── main.cpp
│
├── platformio.ini
│
└── src
    ├── output
    ├── keyboardController.cpp
    └── main.cpp

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How to Run

1. Flash the Arduino (Main Controller)

Build / Compile Using PlatformIO:

pio run

Upload to Arduino

pio run --target upload

Open Serial Monitor

pio device monitor

You will be asked to pick a mode:

• Keyboard Controller
• Gesture Controller

Keyboard Controller Mode

If you select Keyboard Controller:

• Stay in the PlatformIO Serial Monitor
• Press keys to move the robotic arm joints
• Commands are sent directly to the Arduino through serial

Gesture Controller Mode (OpenCV)

If you select Gesture Controller, then:

1. Close the PlatformIO serial monitor (the OpenCV program needs the serial port)
2. Build the OpenCV gesture controller:

cd opencv_controller
mkdir build
cd build
cmake ..
cmake --build . --config Release

3. Run the gesture controller executable:

.\Release\opencv_controller.exe

This will:

• Open your webcam
• Detect hand poses
• Translate gestures into servo commands
• Send commands to the Arduino over serial

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Demo Video (Gesture Controller)

robot-hand-gesture-demo.mp4

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Requirements:

Arduino Controller

• PlatformIO IDE

OpenCV Gesture Controller

• CMake
• OpenCV

Materials Hardware

• Prices and quantity of all hardware componets, 3D-printed parts, and electronics used in this project can be found in the following spreadsheet: Click to View Full Materials List (Google Sheets)

3D Printed Parts

Based on open-source models designed by: LimpSquid