A Simple 4 DOF Robotic Arm

A simple 3D printed robot arm (modified version of the UMIRobot). The control of the arm is done using a simple implementation of an inverse jacobian controller.

1. Mechanical design

This arm is a simple modified version of the 5 DOF UMIRobot. Since I didn't have enough motors, I welded two joints in blender instead of having a motor linking them.

2. Controller design

The arm is controlled using a jacobian-based controller with velocity constrains. A thorough explanation of the theory can be fond here.

3. Simulation

I used phobos to generate a urdf file for the arm, which I used to simulate the arm in pybullet.

4. Adding intelligence: TODO