Development of a Wi-Fi Enabled Robotic Arm with Real-Time Web-Based Control

摘要

This paper discusses the design and development of a low-cost six-degree-of-freedom (6-DOF) robotic arm named ArmX-6 that is designed by laser-cutting MDF sheets for the structures. Five MG996R servo motors are used for the base (rotate), shoulder, elbow, and wrist, and one MG90S servo motor is used to control the gripper. At the heart of the system is an ESP32 microcontroller, which allows for wireless control with a custom-built, real-time web interface built using HTML, CSS, and JavaScript. WebSocket is used for low-latency communication between the microcontroller and the web interface. Overall, the proposed solution shows promise for providing jitter-free and responsive motion control (without the need for high-frequency switching), which is an effective approach in terms of positioning motors for small-scale automation tasks, prototyping, and applications requiring cost-effective spatial manipulation.