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A 7DoF Arduino Arm for ROS

A simple servo robot arm with 7DoF features motion-planning ability by Debian Linux, Robot Operation System and Arduino.

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Robot Operation System on Debian Linux system provides motion abilities such as motion-planning and 3D perception. An ROS node program has been given to connect Arduino boards for years. It is a chance to build a multi-DoF robot arm feathering these abilities. Toy servos, sg90 and MG996r, are convenient choice to build the project.

A 7DoF robot arm made by Arduino and cheap toy servos. All of them worth of $20. But The arm features motion-planning service. 

  • 1
    Build the arm by servos and Legos.

    Print some shapes to connect Lego and servos.

    connect servo parts to build a sample 3DoF robot arm.

    Extend it to a 7DoF  robot arm.

  • 2
    Prepare an Arduino board and PCA9685 to drive servos
    Connect the robot arm servos and Arduino via PCA9685 which need an independent 6V power.

    Check Arduino pin A4 -> PCA9685 SDA , pin A5->PCA9685 SLC.  GRD -> GRD, 5V->5V

  • 3
    Set up a URDF model of the arm in your computer


    Prepare an Ubuntu Linux virtual machine and install ROS.


    Install URDF plugin to Solidworks. 

    Build a robot arm in Solidworks and Export to a URDF file.

    Set up every link

    Press button "Preview and Export" to generate joint configurations.

    Save the project and copy the file folder to Linux ROS catkin workspace.

    Check the folder as a ROS package.

    roslaunch urdf_tutorial display.launch model:=<the robot arm filename>.urdf

    move the model by joint_state_publisher

    It works.

    So, extend it to a 7DoF robot arm model.

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