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Gesture-controlled 6DOF robotic arm
University of Toronto
Date
2023 Jan-2024 April
Objectives:
- 6DOF.
- Controlled remotely with gestures.
- The overall cost needs to be less than 250 CAD.
I led the design and development of a low-cost, gesture-controlled 6DOF robotic arm that enables intuitive, remote manipulation through human hand motions. The project focused on achieving reliable multi-axis control, natural human–machine interaction, and strict cost constraints, with the total system built for under 250 CAD. The resulting robotic arm provides full 6DOF axis control, allowing free movement along the X, Y, and Z axes and precise end-effector manipulation based on real-time hand gesture inputs. The system employs the ESP-NOW protocol for low-latency wireless communication between two ESP32 microcontrollers, while robotic kinematic models and motion controllers are calibrated and embedded on an STM32 MCU to ensure accurate and stable operation.
Top collaborators: Gurpreet Mukker, FangrenXu
