E-mail:[email protected] https://acebott.

com

Robot Arm Tutorial

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Perface
Our Company
ACEBOTT STEM Education Tech Co.,Ltd
Founded in China's Silicon Valley in 2013, ACEBOTT is a STEM education solution
leader We have a team of 150 individuals, including members from research and
development, sales, and logistics. Our goal is to provide high-quality STEM education
products and services to our customers. We are working together with STEM
education experts and our business partners to produce successful STE products
together Our self-own factory also provides CEM services for our clients including
Logo customization on product packaging and PCB.

Our Tutorial
This course and robot arm learning kit are designed for children and teenagers aged 8
and above. It aims to provide a deeper understanding of the ESP32 controller board,
robot arm knowledge, and electronic hardware. If you want to learn about robot arms,
this kit offers knowledge and operational steps to help you build your own robot arm.

Through this kit, you can:

1. Learn how to effectively use the ESP32 controller board, including downloading
code, understanding its features, and coding in the Arduino IDE.
2. Gain a solid programming foundation in the basics of the C languages, as ESP32
utilizes the simplified C/C++ programming languages to control circuits and sensors.
3. Explore the working principles of the servo module and understand the
collaborative work of multiple servos in the robot arm project.
4. Enhance your maker skills by building your own robot arm using the ACEBOTT kit
through step-by-step tutorials.
5. Implement basic functions such as joystick control, teach learning, web control, and
app control in the robot arm project.
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6. Gain a comprehensive understanding of robot arm concepts, preparing for more

advanced learning in the future.

Overall, the ACEBOTT robot arm is a learning kit designed specifically for beginners
and is based on the ESP32. Using this kit, users can gain a comprehensive
understanding of the controller board and servos in a robot arm. By following the
tutorials provided in the kit, students of different age groups can acquire valuable
knowledge about robot arms and successfully build their own robot arm projects.

Customer service
ACEBOTT is a dynamic and fast-growing STEM education technology company that
strives to offer excellent products and quality services that meet your expectations.
We value your feedback and encourage you to drop us a line at [email protected]
with any comments or suggestions you may have.

Our experienced engineers are dedicated to promptly addressing any problems or

questions you may have about our products. We guarantee a response within 24
hours during business days.

Follow Us
Scan the QR codes to Follow Us for troubleshooting & the latest news.
We have a very large community that is very helpful for troubleshooting and we also
have a support team at the ready to answer any questions.

ACEBOTT FB Group QR Code YouTube QR Code

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Contents

Lesson 1 Hardware Understanding and Software Installation .............................. 1

Ⅰ.Hardware Understanding ................................................................................. 2
Ⅱ.Software Installation .........................................................................................3
Ⅲ.Understanding Servos ....................................................................................29
Lesson 2 Assembly of the robot arm .....................................................................33
Ⅰ.Parts List ........................................................................................................ 33
Ⅱ.List of Structural Components ........................................................................34
Ⅲ.Assembly Steps ............................................................................................. 35
Lesson 3 Robot Arm Joystick Control ...................................................................59
Ⅰ.Servos Control ............................................................................................... 59
Ⅱ.Understanding the Joystick Module ............................................................... 60
III.Basic Movements of Robot Arm Controlled by Joystick ................................. 62
Ⅳ.Extending Tasks .............................................................................................65
Lesson 4 The Spatial Coordinates of The Robot Arm .......................................... 66
Ⅰ.The Cartesian Coordinate System ................................................................. 66
Ⅱ.Joint Coordinate System ................................................................................ 67
III.Forward and Inverse Kinematics .................................................................... 68
Ⅳ.Robot Arm Coordinate Diagram .....................................................................69
Ⅴ.Robot Arm Calibration Instructions ................................................................ 70
Ⅵ.Moving Spatial Coordinate Points .................................................................. 71
Lesson 5 Robot Arm Stacking ................................................................................74
Ⅰ.Robot Arm Palletizing Program ......................................................................75
Ⅱ.Extending Tasks .............................................................................................77
Lesson 6 Teaching and Learning of the Robot Arm .............................................78
Ⅰ.Teaching Program ..........................................................................................78
Ⅱ.Extending Tasks .............................................................................................80
Lesson 7 Web Control of the Robot Arm ...............................................................81
Ⅰ.Web Control Program .................................................................................... 81
Ⅱ.Login To the Webpage ...................................................................................82
III.Extending Tasks ............................................................................................. 83
Lesson 8 Robot Arm APP Control ..........................................................................85
Ⅰ.APP Download ............................................................................................... 85
Ⅱ.APP Control the Robot Arm ........................................................................... 87
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Lesson 1 Hardware Understanding and

Software Installation
Robot arms are automated mechanical devices widely used in the field of robotics.
The arm is a crucial component of the robot's execution mechanism, designed to
transport the gripped workpiece to a given position. In the industrial sector, the
application of robot arms can replace humans in monotonous and repetitive
production tasks or in processing operations in dangerous and harsh environments.

A robot arm consists of three basic parts: the main body, the drive system, and the
control system. The main body primarily includes the chassis, shoulder, Elbow, and
end effector. Depending on different application scenarios, the main body of the robot
arm can be divided into four-axis, five-axis, six-axis, or even multi-axis configurations.
The drive system includes power devices and transmission mechanisms, with the core
components being the reducer and servo motor, which drive the robot arm to perform
corresponding actions. The control system issues command signals to the drive
system according to the input program, controlling the movement of the robot arm.

The robot arm in this tutorial is a four-axis robot arm. The first axis is the chassis servo,
the second axis is the shoulder servo, the third axis is the elbow servo, and the fourth
axis is the claw servo.

The robot arm in this tutorial uses a mainstream ESP32 controller board as its main
controller, and programming in the Arduino IDE. Control methods include joystick
control, web control and app control.

How is the robot arm specifically controlled? Let's continue with the tutorial and learn
together.

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Ⅰ.Hardware Understanding

The ESP32 controller board is a low-power, high-performance microcontroller ideal for

IoT development. It features a dual-core processor running at 240MHz, 520KB of
RAM, and 4MB of flash memory. It includes built-in WiFi and Bluetooth 4.2 modules
for wireless communication. With 34 GPIO pins, it supports connectivity and control of
various peripherals.

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Ⅱ.Software Installation

In the robot arm project, we will primarily use the Arduino IDE as the programming
software. It is an open-source programming platform compatible with various boards
such as Arduino UNO, ESP32, ESP8266, STM32, and more. Using the Arduino IDE,
you simply write your program code within the IDE and then upload it to the controller
board. The program will instruct the controller board on what actions to perform.

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1.Installing Arduino IDE

First, open the official website where the Arduino IDE is downloaded:
https://www.arduino.cc/en/Main/Software
According to the user's computer system, choose the corresponding software version.

(1) Installation on Windows system

①Click the mouse at the position shown in the figure.

Attention: Due to potential compatibility issues with the new version, it is
recommended to install version 2.2.1 of the Arduino IDE.

Link to version 2.2.1:https://github.com/arduino/arduino-ide/releases

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②Select JUSTDOWNLOAD.

③When the following screen appears, it indicates that the Arduino IDE is
downloading.

④When the download is complete, the icon file will appear. Click Install software.

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⑤After installation, the following screen appears and select "I Agree".

⑥After selecting "I Agree", the following screen will appear and select "Next".

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⑦Select "Next" and the following screen will appear. Select "Install".

⑧Arduino IDE software installed.

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⑨When the installation is complete, click Finish.

⑩After installation, a shortcut icon of Arduino IDE will appear on your desktop.

⑪After opening, the following software interface will appear.

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(2) Installation on Mac OS

①Click the mouse at the position shown in the figure.

Attention: Due to potential compatibility issues with the new version, it is
recommended to install version 2.2.1 of the Arduino IDE.

Link to version 2.2.1:https://github.com/arduino/arduino-ide/releases

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②Select JUSTDOWNLOAD.

③When the following screen appears, the Arduino IDE is downloading.

④When the download is complete click the download icon in your browser and find
the Arduino IDE installer.

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⑤Click on the install package to appear the installation screen, just select the Arduino
IDE icon, move to the Applications to install the program.

⑥In the workbench, find the Arduino IDE and open it.

⑦After opening, you can see the following software interface.

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2.Install the serial driver (skip it if installed)

Serial port is a computer communication interface, usually used for the computer and
other devices (such as modems, sensors, printers, microcontrollers, etc.) for data
transmission, USB serial port is our most commonly used communication interface.

Generally, after installing the Arduino IDE software for the first time, it is necessary to
install the serial port driver to transmit the edited program to the controller board.

The USB-to-serial chip of the ESP32 controller board is CH340, so you need to install
the driver for this chip. After connecting the controller board to the computer with a
USB cable, the driver will usually install automatically on MacOS and Windows
systems. If the driver fails to install automatically, you will need to install the driver
manually.

The Driver can be downloaded from the Internet, or you can find the folder named
"CH340 Driver" in the resource package provided by us. Choose the appropriate
package according to your computer system type, and then follow the steps below to
install the driver.

(1)Windows system driver installation mode

①Insert one end of the USB cable into the ESP32 controller board and the other end
into a USB port on your computer.

②When connecting the ESP32 controller board to the computer for the first time,
right-click "My Computer" -> "Properties" -> click "Device Manager." Under "Other
devices," you will see "USB-Serial" or "Unknown Device."

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③Right-click on the device and select the top menu option ("Update Driver Software"),
as shown in the image below.

④You will then be prompted with "Search automatically for updated driver software"
or "Browse my computer for driver software," as shown in the image below. On this
page, select "Browse my computer for driver software."

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⑤Then, add the path to the driver files.

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⑥After the software installation is complete, you will receive a confirmation message.
Once the installation is finished, click "Close."

⑦To confirm if the installation was successful, plug one end of the USB cable into the
ESP32 controller board and the other end into a USB port on your computer.
Right-click "My Computer" -> "Properties" -> click "Device Manager". Once the
controller board is connected, the successful installation will be shown as indicated in
the image below.

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(2)macOS System driver installation mode

Open the "CH340 Driver file-mac" folder, you can see the driver installation File we
provided. In general, the pkg format driver is installed by default, but if Rosetta is not
supported in OS X 11.0 or later, install the dmg format driver.

Before installing, go to "System Preferences "->" Security & Privacy "->" General" and
select ->"Mac App Store and identified developers "under the heading" Allow
applications to be downloaded from the following addresses "so that the driver will
work correctly.

1).Install the driver in pkg format

①Click driver file -> Continue -> Install.

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②The installation was successful.

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③Install the pkg format driver on OS X 11.0 and later: open

"LaunchPad"->"CH34xVCPDriver"-> Install.

④When using OS X 10.9 through OS X 10.15, click Restart to restart your computer,
and perform the following steps after restarting.

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2)Install the dmg format driver（Attention:If the pkg file of Step A is successfully

installed, skip Step B）

①Install the dmg driver, click the dmg file and drag "CH34xVCPDriver" into the
application folder of the operating system.

②Then open "LaunchPad"->"CH34xVCPDriver"-> Install.

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③The installation was successful.

3)Check whether the CH340 serial port driver is installed

When the controller board is inserted into the USB port, open System Report ->
Hardware ->USB. On the right is the USB device. If the USB device is working
correctly, you can find a device with a "Vendor ID" of [0x1a86].

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3.Install the ESP32 library

Because the controller board used by the robot arm is ESP32, it is also necessary to
add the library of ESP32 in order to program the ESP32 board on the Arduino IDE.

When you open the Arduino IDE, select Tools>Board, you will find that the Arduino
IDE only has Arduino AVR Boards and no ESP32.

Next we need to install ESP32 library, follow these steps:

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①Open File >Preferences

②Add the controller board management address URL.

③Copy the URL in the lower text box and add it to "Additional Boards Manager URLs"

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http://arduino.esp8266.com/stable/package_esp8266com_index.json
https://www.arduino.me/package_esp32_index.json

④After adding the URL, click "OK".

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⑤Click Tools > Board > Boards Manager.

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⑥Search for "ESP32" in the BOARDS MANAGER's search bar and install it.
Attention: Please install version 2.0.12 of ESP32 because the newer versions
are incompatible with the tutorial's libraries, which may cause errors in the
program! If you have already installed version 3.0, please uninstall it and
reinstall version 2.0 of ESP32.

⑦When the following interface appears, please wait until the installation is complete,
then close Arduino IDE.

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Attention: Since the installation package is hosted on GitHub, it may be affected

by network speed. If the installation fails, try several times.

⑧Reopen Arduino IDE, select Tools > Board, and you will see the esp32 board
appear.

4.Add library files

Open the "Add libraries" file in English\Arduino\4.Add_libraries and follow the
instructions to add them.

5.Test the development environment

After installing the Arduino IDE and the ESP32 board extension library, you can test if
the development environment is set up successfully with a simple program. Please
follow these steps:
①Connect the controller board to your computer > Open Arduino IDE > Click on
Tools > Select ESP32 > Choose (ESP32 Dev Module).

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②Select the serial port (you can check the serial port number in the computer's
Device Manager, then see if the corresponding port appears below. Since each board
has a different COM number, choose the COM number displayed accordingly).

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③Open "Hello_esp32.ino" in English\Arduino\2.Arduino program\Lesson

1\Hello_esp32, connect the ESP32 controller board to the computer with a USB cable,
select the correct controller board and port, Upload the code to the ESP32 controller
board, select the baud rate of 115200, you can see the serial port monitor constantly
output "Hello, ESP32!" .

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Ⅲ.Understanding Servos

1.Introduction to servos
The main structure of the servo is shown in the following figure, which mainly has
several parts: shell, variable speed gear set, motor, adjustable potentiometer, control
circuit board, and steering wheel.

Its working principle is to control the circuit board to receive control signals from the
signal source and drive the motor to rotate. The gear set reduces the speed of the
motor many times and amplifies the output torque of the motor accordingly. The

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potentiometer and the final stage of the gear set rotate together to measure the actual
angle of rotation of the servo shaft. The control circuit board receives feedback from
the potentiometer to determine the actual angle of the motor and compares it with the
target angle. If there is an error, it controls the servo to rotate to the target angle
position.

The workflow is as follows: Control Signal → Electronic Control Board → Motor

Rotation → Gear Set Reduction → Servo Rotation → Feedback of Actual Motor Angle
→ Control Circuit Board adjusts the motor position based on feedback to the target
angle.

2.The pin definition of the steering gear

①Usually, a servo has three control wires: power wire, ground wire, and signal wire.

②Servo pin definitions: Brown wire - GND, Red wire - 5V, Orange wire - signal.
③Connect the servo to the ESP32 controller board according to the following
diagram.

ESP32 Controller
Servo Diagram
Board

Brown wire GND

Red wire 5V

Orange wire GPIO5

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Attention: Please make sure to strictly follow the wiring instructions when
connecting the module to the ESP32 controller board. Incorrect wiring may
cause a short circuit and damage the ESP32 controller board.

3.Servo testing
①Connect the four servos as shown in the diagram.

②Open "Servo_test.ino" in English\Arduino\2.Arduino program\Lesson 1\Servo_test,

connect the ESP32 controller board to the computer with a USB cable, select the
correct controller board, processor, and port, Upload the code to the ESP32 controller
board.

Attention: To maintain a stable power output, you need to install 18650 batteries
in the battery holder, connect it to the controller board's power port, and switch
it to the "on" position before operating.

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③If the servo is functioning properly, it will rotate from 0 degrees to 180 degrees, then
from 180 degrees back to 0 degrees, and finally settle at the 90-degree position.

4.Servo Motor Zeroing Program

Before installing the robot arm, it's important to pre-flash the servo motor zeroing
program to facilitate smooth assembly of its structure.

Open "servo_90.ino" in English\Arduino\2.Arduino program\Lesson

1\Servo_90,connect the ESP32 controller board to the computer with a USB cable,
select the correct controller board, processor, and port, Upload the code to the ESP32
controller board.

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Lesson 2 Assembly of the robot arm

Before assembly, to facilitate the process and distinguish the servos at different
positions, we will name the servos from top to bottom as Claws, Elbow, Shoulder, and
Chassis.

Ⅰ.Parts List

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Ⅱ.List of Structural Components

Acrylic Structure Quantity Image

Base plate 1

Base plate bracket

1

Joystick mounting plate 1

Chassis servo mounting

1
plate

Pin 4

Chassis disk 1

Disk bracket 1 1

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Disk bracket 2 1

Shoulder bracket 1 1

Shoulder bracket 1 1

Elbow bracket 1 1

Elbow bracket 2 1

Claw servo mounting plate 1

Claw component 1 2

Claw component 2 2

Ⅲ.Assembly Steps

Attention: If you want to watch the assembly video, please click the link

below.

https://www.youtube.com/watch?v=RtOe7knGhkI

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Or scan the QR code below.

1.Remove the protective paper attached to the acrylic structure

2.Installing the ESP32 controller board on the base plate

Part List
Name Quantity
esp32 Controller Board 1
Base Plate 1
M3*8 Flat Head Screw 7
M3*12 Double-pass Copper Pillar 4

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Attention: Only 3 M3*8

Flat Head Screws need
to be locked above.

Attention: The front side is

indicated by the presence of
the controller board pattern.

3.Installing the base plate

Part List
Name Quantity
Base Plate Bracket 1
M3*10 Flat Head Screw 5
M3 Nut 5

Attention: Place the M3 nuts

in this position.Hold the nuts
on both sides with your
hand before tightening the
screws.

4.Install the joystick module

Part List
Name Quantity
Joystick Module 1

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Joystick Mounting Plate 1

M3*10 Flat Head Screws 4
M3 Nuts 4

Attention: When the joystick module is connected to the dupont wire, the actual
Dupont wire color may be different from the figure, so you only need to follow
the pin identification on the joystick module to connect.

This step requires connecting the wires from the two joystick modules to the
mainboard first. For the left joystick module, connect SW to pin 34, X to pin 32, Y to
pin 33, and connect VCC and GND to the VCC and GND pins in the same row as pin
32. For the right joystick module, connect SW to pin 39, X to pin 35, Y to pin 36, and
connect VCC and GND to the VCC and GND pins in the same row as pin 35.
Attention: Please make sure to strictly follow the wiring instructions when
connecting the module to the ESP32 controller board. Incorrect wiring may
cause a short circuit and damage the ESP32 controller board.

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5.Install the joystick mounting plate

Part List
Name Quantity
M3*10 Flat Head Screw 2
M3 Nut 2

Attention: Place the M3

nuts in this position.

6.Install chassis servo

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Part List
Name Quantity
Servo 1
Chassis Servo Mounting Plate 1
M2*10 Round Head Screw 2
M2 Nut 2

Attention: servo
shaft orientation.

7.Install pin
Part List
Name Quantity
Pin 4
.

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Attention: Do
not press the
pin too hard
to prevent the
pin from
breaking.

8.Install the steering wheel of the chassis servo

Part List
Name Quantity
Straight Steering Wheel 1
Chassis Disk 1
M1.7*6 Large Round Flat Head Tapping Screw 2

Attention: Install
the steering wheel
with the protrusion
facing the circular
hole.

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9.Install the disk bracket

Part List
Name Quantity
Half Straight Steering Wheel 1
Disk bracket 1 1
Disk bracket 2 1
M1.7*6 Large Round Flat Head Tapping Screws 2
M3*10 Flat Head Screws 2
M3 Nuts 2

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10.Fixed robot arm chassis structure

Part List
Name Quantity
M2.5*4 Round Head Screw 1

Attention: ①Before this step of installation, first connect the servo to the GPIO5
pin of the controller board, and then turn on the power of the controller board to
keep the servo in the 90° position.

②In order to avoid damage to the steering gear during installation, please do
not rotate the shaft of the steering gear.

M2.5*4 round head Attention: The installation

direction of this structure
screws are in the
should be consistent with
bag of servo. the figure as far as
possible. Due to the
accuracy problem of the
steering gear, there may
be some deviation, which
is a normal situation.

11.Install the shoulder bracket

Part List
Name Quantity

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Shoulder Bracket 1 1
Elbow Bracket 1 1
M3*35 Nylon Column 1
M3*10 Flat Head Screw 2
M3 Nickel-Plated Lock Nut 2

shoulder bracket 1 Attention: the nickel-plated

lock nut can be fixed with
l-angled socket spanner,
Attention ： Shoulder and do not tighten it too
bracket 1 should be tightly. The same is true for
attached to the outer the nickel-plated lock nut
side of the disc in the next step.
bracket.

Attention: The two

rectangular holes
above Elbow bracket
1 are positioned
Attention: Use shorter
nylon column here.
M3 Nickel-Plated
Lock Nuts

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Part List
Name Quantity
Servo 2
Shoulder Bracket 2 1
M2*10 Round head screw 4
M2 Nut 4

Attention: the

direction of the two

steering shafts.

Connecting the shoulder servo and elbow servo to the ESP32.

Attention: ①First, unplug the USB cable, disconnect the power supply of the
controller board, and make the robot arm servo in a state of no power;

②Then, the threaded hole on the chassis disc is gently rotated to align with the
threaded hole on the bottom plate, and then the dupont lines of the shoulder
servo and elbow servo of the robot arm are passed through the two threaded
holes.

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Elbow servo

Shoulder servo

③Connect the shoulder servo wire to GPIO16 pin, and the elbow servo wire to
GPIO17 pin.

④Then turned on the power again, and keep the chassis, shoulder and elbow
servos at 90° position.
Part List
Name Quantity
M2.54 Round Head Screw 1
M3*10 Flat Head Screw 1

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Attention:The shoulder
bracket should be
installed vertically to the
ground before tightening
the screws of the servo
motor and nylon column.

12.Fixed M3*40 nylon column

Part List
Name Quantity
M3*40 Nylon Column 1
M3*10 Flat Head Screw 1

Attention: Use
longer nylon
column here.

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13.Install the left paw structure of the robot arm

Part List
Name Quantity
Half Straight Steering Wheel 1
Claw Component 1 2
M1.7*6 Large Round Flat Head Tapping Screws 2
M3*14 Round Head Screws 2
3MM White ABS Nylon Gaske 2
M3 Nuts 2
Non-Slip Sleeve 1

Attention: Install
the steering wheel
with the protrusion
facing downwards.

white ABS
nylon gasket
3mm diameter

Attention: The
claw component 1
with the steering
wheel should be
positioned below.

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14.Install the right paw structure of the robot arm

Part List
Name Quantity
Claw Component 2 1
M3*22 Flat Head Screws 1
M3*14 Round Head Screws 2
3MM White ABS Nylon Gaske 3
M3 Nuts 2
Non-Slip Sleeve 1

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Attention: Do
not tighten the
M3*22 flat
head screws.

white ABS
nylon gasket
3mm diameter

Install the non-slip sleeve.

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15.Fixed the robot arm's claw servo mounting plate

Part List
Name Quantity
Servo 1
Claws Servo Mounting Plate 1
M2*10 Round Head Screw 2
M2 Nut 2

Attention: Ensure the steering

shaft and the circular hole are
both positioned upwards.

Connect the wire of the claws servo to the GPIO18 pin.

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Attention: For this step, please power on the controller board and ensure the
claws servo remains at the 90° position.

Part List
Name Quantity
M2.5*4 Round Head Screw 1
6MM White ABS Nylon Gaske 1
M3 Nickel-Plated Lock Nut 1

Attention: The
initial form of the
claw is closed. white ABS
nylon gasket
6mm diameter

M3 nickel-plated
lock nuts

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Part List
Name Quantity
Half Straight Steering Wheel 1
Ebow Bracket 2 1
M1.7*6 Large Round Flat Head Tapping Screws 2
M3*10 Flat Head Screw 2
M2.5*4 Round Head Screw 1

Attention: Install the

steering wheel with the
protrusion facing towards
the circular hole.
Attention: Ensure
the rectangular hole
is facing upwards.

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Attention: Ensure M3*10 flat

that the elbow head screw

bracket and
shoulder bracket
are installed at a
90° angle. M2.5*4 round
head screw

16.Organize the servo wires

Please ensure that all four servo motors' DuPont wires are correctly connected to the
controller board.

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Attention: The DuPont

wires of the claws
The claws servo motor is
servo motor should connected to pin 18.
not pass through the
concentric hole. The elbow servo motor is
connected to pin 17.

The shoulder servo motor is

connected to pin 16.

The chassis servo motor is

connected to pin 5.

Attention: Please make sure to strictly follow the wiring instructions when
connecting the module to the ESP32 controller board. Incorrect wiring may
cause a short circuit and damage the ESP32 controller board.

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17.Fixed the base of the robot arm

Part List
Name Quantity
M3*10 Flat Head Screws 2
M3 Nuts 2

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Attention: Ensure
all four servo
motor wires are
connected to the
controller board
before tightening
the screws.

18.Fixed battery holder

Part List
Name Quantity
18650 Battery Holder 1
M3*8 Flat Head Screws 8
M3*12 Double-pass Copper Pillar 4

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19.Install the non-slip mat

Peel off the adhesive film from the non-slip mat and stick the non-slip mat on the four
corners underneath the robot arm base.

The robot arm is now fully assembled!

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Lesson 3 Robot Arm Joystick Control

Ⅰ.Servos Control
1.Pin description of robot arm servos
After installing the robot arm, each servo assumes different functions. To control each
servo's angle programmatically and achieve various functionalities, it's essential to
know the corresponding pin numbers for each servo.

The robot arm uses a total of 4 servos, with their corresponding pin numbers as
follows:
Pin Servo
NO. Figure
Number Position

1 GPIO18 Claws Claws

Elbow

2 GPIO17 Elbow
Shoulder

3 GPIO16 Shoulder
Chassis

4 GPIO5 Chassis

2.Motion principles of each joint in the robot arm

Servo
NO. Pin Number Movement Patterns
Position
The larger the servo angle, the wider the
1 GPIO18 Claws
claw opens
The larger the servo angle, the higher the
2 GPIO17 Elbow
elbow of the robot arm moves up
The larger the servo angle, the lower the
3 GPIO16 Shoulder
shoulder of the robot arm moves down
The larger the servo angle, the more the
4 GPIO5 Chassis
base of the robot arm turns left

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Ⅱ.Understanding the Joystick Module

1.Introduction to the Joystick Module
The joystick module consists of two sliding potentiometers and one button. When you
move the joystick, the resistance values of the potentiometers change, resulting in
corresponding X/Y voltage values. Pressing down on the joystick triggers the button,
causing the SW signal to go low. This module is commonly used in applications such
as RC models, gaming controllers, remote-controlled vehicles, and camera gimbals.

2.Testing the Serial Output of the Joystick Module

When you move the joystick, you can monitor the corresponding X/Y values in
real-time by printing them to the Serial Monitor in the Arduino IDE.

Open “Joystick_test.ino” in English\Arduino\2.Arduino program\Lesson

3\Joystick_test, connect the ESP32 controller board to the computer with a USB
cable, select the correct controller board, processor, and port, Upload the code to the
ESP32 controller board.

Sample Code:

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const int left_X = 32;//Define the right X pin to 32

const int left_Y = 33;//Define the right Y pin to 33
const int left_key = 34;
int X1 = 0, Y1 = 0, Z1 = 0;

void setup() {
pinMode(left_key, INPUT);
Serial.begin(115200);
}
void loop() {
X1 = analogRead(left_X);//Read the right X value
Serial.print(X1);
Y1 = analogRead(left_Y);//Read the right Y value
Serial.print(" ");
Serial.print(Y1);
Z1 = digitalRead(left_key);//Read the right Z value
Serial.print(" ");
Serial.println(Z1);
delay(1000);
}

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III.Basic Movements of Robot Arm Controlled by

Joystick
The basic control actions of a robot arm mainly include left-right rotation, up-down
elbow movement, and opening-closing of the claw. Once you master these basic
movements, you can combine and expand other actions based on these
fundamentals.
Attention: After the robot arm is powered on, it is forbidden to rotate the servo
directly by hand to prevent damage to the servo.

1.Joystick control program

Open “JoyStick_Controlled_Robot_Arm.ino” in English\Arduino\2.Arduino
program\Lesson 3\JoyStick_Controlled_Robot_Arm, connect the ESP32 controller
board to the computer with a USB cable, select the correct controller board, processor,
and port, Upload the code to the ESP32 controller board.

Sample Code:

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#include <ACB_ARM.h>//Add the Robot arm libraries

ACB_ARM ARM;

void setup() {
ARM.ARM_init(5,16,17,18);//The parameters are four Servo pins
ARM.JoyStick_init(32,33,34,35,36,39);//Joystick initialization
}
void loop() {
ARM.get_JoyStick();
if (ARM.JoyY1 < 50) {//chassis left
ARM.chassis_angle = ARM.chassis_angle + 1;
ARM.JoyChassisCmd(ARM.chassis_angle);
}
if (ARM.JoyY1 > 3500) {//chassis right
ARM.chassis_angle = ARM.chassis_angle - 1;
ARM.JoyChassisCmd(ARM.chassis_angle);
}
if (ARM.JoyX1 < 50) {//Shoulder down
ARM.shoulder_angle = ARM.shoulder_angle + 1;
ARM.JoyShoulderCmd(ARM.shoulder_angle);
}
if (ARM.JoyX1 > 4000) {//Shoulder up
ARM.shoulder_angle = ARM.shoulder_angle - 1;
ARM.JoyShoulderCmd(ARM.shoulder_angle);
}
if (ARM.JoyX2 < 50) {//Elbow up
ARM.elbow_angle = ARM.elbow_angle + 1;
ARM.JoyElbowCmd(ARM.elbow_angle);
}
if (ARM.JoyX2 > 4000) {//Elbow dwon
ARM.elbow_angle = ARM.elbow_angle - 1;
ARM.JoyElbowCmd(ARM.elbow_angle);
}
if (ARM.JoyY2 > 4000) {// Claws open
ARM.claws_angle = ARM.claws_angle + 1;
ARM.JoyClawsCmd(ARM.claws_angle);
}
if (ARM.JoyY2 < 50) {// Claws close
ARM.claws_angle = ARM.claws_angle - 1;
ARM.JoyClawsCmd(ARM.claws_angle);
}
}

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2.Joystick control patterns

After uploading the program, you will notice that the four arms of the robot arm are
arranged in a "7" shape, which is the initial posture. You can then use the joystick to
control the robot arm.

The following is a joystick function introduction:

Joystick Direction Joint Position Law of Motion

Left Chassis Turn to the left
Right Chassis Turn to the right
Left joystick
Up Shoulder Upward motion
Down Shoulder Downward motion
Up Elbow Upward motion
Down Elbow Downward motion
Right joystick
Left Claws Claws open
Right Claws Claws close

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Ⅳ.Extending Tasks
Based on the basic operational patterns of the joystick on the robot arm, next we can
achieve the functionality of using the joystick to control the robot arm for object
handling tasks.

Task description：
Using the joystick module control method, maneuver the robot arm to pick up an
object from point A and transport it to point B for placement.

Attention: Define the positions of points A and B as desired.

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Lesson 4 The Spatial Coordinates of The

Robot Arm
The spatial coordinates of the robot arm play a crucial role in its control and
programming. Through precise spatial coordinates, the robot arm can achieve
accurate positioning, optimize motion planning, effectively avoid obstacles, perform
precise operations, and thereby enhance levels of automation and intelligence.

Ⅰ.The Cartesian Coordinate System

In robot arm spatial motion control, the Cartesian coordinate system is one of the most
commonly used coordinate systems. It is a mathematical system for describing the
position of points in space. In three-dimensional space, the Cartesian coordinate
system consists of three mutually perpendicular axes (x, y, z). The intersection of
these three axes is the origin (O) of the coordinate system. In this tutorial, the origin of
the Cartesian coordinate system is located at the center of the robot arm Chassis
servo disc.

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Ⅱ.Joint Coordinate System

Apart from the Cartesian coordinate system, each joint of the robot arm has its own
coordinate system known as the joint coordinate system. Its origin typically lies at the
joint connection point, and its axes are defined along the rotation axis of the joint.
Each joint coordinate system is associated with a joint coordinate that describes the
rotation angle or extension of that joint. Because each joint of the robot arm can rotate
or extend, the joint coordinate systems can transform based on the current posture of
the robot arm.

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III.Forward and Inverse Kinematics

Forward kinematics refers to calculating the position and orientation of the robot arm
in Cartesian coordinates based on the joint angles. Inverse kinematics, on the other
hand, involves calculating the joint angles based on the Cartesian coordinates to
achieve the desired movement of the robot arm.

The forward kinematics problem can be solved through matrix transformations, that is,
by comparing the transformation matrix of each joint coordinate system with the
coordinate transformation formulas of the robot arm to determine the angles of each
joint. The inverse kinematics problem is usually more complex, requiring the solution
of a set of nonlinear equations and often having multiple solutions.

In this tutorial, we will mainly build a Cartesian coordinate system with the center of
the Chassis steering wheel as the origin point. When the specified position
coordinates (X,Y,Z) are entered, the library file in the tutorial will automatically use the
inverse kinematics algorithm to calculate the coordinates of each joint of the
mechanical arm, and then convert them into the angles of each joint steering gear.
Thus, the end of the manipulator is controlled to reach the position of the target point
on the space coordinate.

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Ⅳ.Robot Arm Coordinate Diagram

There will inevitably be some errors in the assembly process of the robot arm. In order
to better calibrate the robot arm, we need to use the coordinate diagram.The
coordinate diagram of the robot arm is composed of X and Y coordinates, with the
intersection point of X and Y being the origin of the map. The coordinate range of X is
[-13, 13], and the coordinate range of Y is [0, 19]. The chamfered rectangle in the
shaded area is the reference position for the robot arm. Place the upper edge of the
robot arm's base against this shape.

【 Click to get the robot arm coordinate diagram PDF file 】

Attention: Please print the diagram of the robot arm on A4 paper according to
the PDF file.

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Ⅴ.Robot Arm Calibration Instructions

The robot arm is composed of multiple servos, and in practical work, there may be
certain errors. To reduce these errors, we have added instructions in the robot arm
control program that allow adjustment of the arm's errors.

First, the command 'ARM.Chassis_angle_adjust(8)' is used to adjust the central angle

deviation of the Chassis servo. The default center point value is 90 degrees, with
angles ranging from 90 to 180 degrees on the left side of the -X axis, and angles
ranging from 0 to 90 degrees on the right side of the X axis.

However, due to the gear precision during installation, it's not guaranteed that the
Chassis servo and steering gear will be exactly at 90 degrees. They might slightly tilt
left or right. Therefore, at this point, we need to calibrate it in the program. For
example, if it tilts 8 degrees to the right, we need to increase the deviation value. So, in
the parentheses of the 'ARM.Chassis_angle_adjust()' command, you would enter 8. If
the shift is 8 degrees to the left, then you need to subtract the offset value,
"ARM.Chassis_angle_adjust()" parentheses with -8.

Next is the 'ARM.Slight_adjust(0,2)' command. This command has two parameters,

both defaulting to 0. Suppose there is a slight offset error when the robot arm end
effector reaches a specified spatial point. In that case, this command is used to make
fine adjustments.

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The first parameter corresponds to the robot arm's X positive semiaxis. If the end
effector tilts 1 degree to the right, you would write 1; if it tilts 1 degree to the left, you
would write -1. If there is no tilt, you would write 0.
The second parameter corresponds to the robot arm's X negative semiaxis. If the end
effector tilts 1 degree to the right, you would write 1; if it tilts 1 degree to the left, you
would write -1. If there is no tilt, you would write 0.

Next please borrow the coordinate diagram, according to the space coordinates
below the program and your actual situation, adjust the calibration parameters.

Ⅵ.Moving Spatial Coordinate Points

Open "Inverse_Kinematics.ino" in English\Arduino\2.Arduino program\Lesson
4\Inverse_Kinematics, connect the ESP32 controller board to the computer with a
USB cable, select the correct controller board, processor, and port, Upload the code to
the ESP32 controller board.

Sample Code:

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#include <ACB_ARM.h>//Add the Robot arm libraries

ACB_ARM ARM;

void setup() {
ARM.Chassis_angle_adjust(8);
ARM.Slight_adjust(0,2);
ARM.ARM_init(5,16,17,18);//The parameters are four Servo pins
Serial.begin(115200);
}
void loop() {
if (Serial.available()) {
String input = Serial.readStringUntil('\n');
int x, y, z, claws;//Define variables for coordinates x, y, z, and claws
sscanf(input.c_str(), "%d %d %d %d", &x, &y, &z, &claws);
if (claws < 90 || claws > 180) {
Serial.println("Invalid claw value. Claw value must be between 90 and 180.");
return;
}
Serial.print("X:");
Serial.print(x);
Serial.print(",Y:");
Serial.print(y);
Serial.print(",Z:");
Serial.print(z);
Serial.print(" Claws Angle:");
Serial.print(claws);
Serial.println(" ");
ARM.ClawsCmd(claws);
delay(1000);
ARM.PtpCmd(x, y, z);
}
}

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After uploading the program, enter four values in the serial monitor: the X coordinate,
the Y coordinate, the Z coordinate, and the claw opening angle (ranging from 90
degrees to 180 degrees). These four values need to be separated by spaces. After
entering the values, press Enter.

ARM.PtpCmd(x, y, z) is a robot arm coordinate control command. Through this

command, the robot arm's end effector moves to the specified position in the spatial
coordinates, where x is the x-axis coordinate, y is the y-axis coordinate, and z is the
z-axis coordinate.

ARM.JoyClawsCmd(claws) is a robot arm claw control command. This command

controls the opening and closing of the end effector's claw, where claws represents
the angle parameter for the claw servo, with an input range of 90 to 180 degrees.

If the coordinates are correct, the robot arm will move to the specified point in space. If
the serial monitor displays "Out of range!" after entering the coordinates, it means the
input values exceed the arm's reachable range, as the movement range is within a
spherical area. In this case, you need to adjust the values and re-enter them.

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Lesson 5 Robot Arm Stacking

In today's era of rapid technological development, robot arms have become an
indispensable part of modern industry, commercial services, and daily life. With their
remarkable flexibility, precision, and efficiency, they have completely transformed
traditional modes of operation.

Especially, robot arm palletizing technology is widely used in various fields,

particularly in scenarios requiring high-efficiency item handling, where its application
value is especially important. For example, in logistics and warehousing, robot arm
palletizing technology can significantly improve the efficiency and accuracy of goods
handling, reduce labor costs, and minimize human errors. Compared to manual
palletizing, robot arm palletizing technology offers advantages such as high efficiency,
good stability, and ease of operation.

With the advancement of technology and market demand, robot arm palletizing
technology will see broader applications in the future. Therefore, in this lesson, we will
learn to implement basic palletizing functions using a robot arm.

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Ⅰ.Robot Arm Palletizing Program

Open "Robot_Arm_Stacking.ino" in English\Arduino\2.Arduino program\Lesson
5\Robot_Arm_Stacking, connect the ESP32 controller board to the computer with a
USB cable, select the correct controller board, processor, and port, Upload the code to
the ESP32 controller board.

First, stack two blocks vertically and place them at the (-7,13) coordinates on the robot
arm map, ensuring that the center point of the blocks aligns with the coordinate point.

Sample Code:

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#include <ACB_ARM.h>//Add the Robot arm libraries

ACB_ARM ARM;

bool RunningState = true;

int startx = 7, starty = 13, startz = 2;//Initial coordinates

int midz = 15;//Height of middle point
int endx = -7, endy = 13, endz = 0;//End point coordinates
int openAngle = 130, closeAngle = 90;
int count = 2;//Number of blocks
int i = 0;

void setup() {
ARM.Chassis_angle_adjust(8);//Chassis error calibration
ARM.Slight_adjust(0,2);//Small calibration error
ARM.ARM_init(5,16,17,18);//The parameters are four Servo pins
Serial.begin(115200);
}

void loop() {
while(i < count) {
ARM.ClawsCmd(openAngle);//open claws
delay(1000);
ARM.PtpCmd(startx, starty, startz-i*2);//The target point is the upper object
delay(1000);
ARM.ClawsCmd(closeAngle);//close claws
delay(1000);
ARM.PtpCmd(startx, starty, midz);//Lift the object after picking it up
delay(1000);
ARM.PtpCmd(endx, endy, midz);//Rotate above the target point
delay(1000);
ARM.PtpCmd(endx, endy, endz+i*2);//Placing Objects
delay(1000);
ARM.ClawsCmd(openAngle);
delay(1000);
ARM.PtpCmd(endx, endy, midz);//Raise arms
delay(1000);
i = i + 1;
}
ARM.Zero();//Servo initialization
}

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After uploading the program, we can observe that the end of the robot arm will reach
the initial coordinates of the blocks, then grab the upper block, transport it to the
destination coordinates, and place it down. Next, it will return to the initial coordinates
of the blocks, grab the lower block, transport it to the destination coordinates, and
finally stack it on top of the first block.

Ⅱ.Extending Tasks
Based on the robot arm's coordinate map, we already know the palletizing pattern of
the robot arm. As long as we know the position coordinates on the map, we can make
the robot arm complete the palletizing function. Next, we will use the map to complete
the robot arm's palletizing function.

Task description：
Based on the palletizing program example, try modifying the initial position
coordinates and the endpoint coordinates of the objects in the program to enable the
robot arm to achieve palletizing at different positions.

Attention: The two blocks need to be placed stacked together. Ensure the
coordinates entered do not exceed the map range. Additionally, during the
robot arm's grabbing process, there may be some errors due to placement or
precision issues.

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Lesson 6 Teaching and Learning of the

Robot Arm
Teaching a robot arm involves the operator setting a fixed motion path for the robot
arm to follow, allowing it to work according to preset steps.

Teaching a robot arm can be divided into three steps. The first step is the teaching
action, where the operator sets a fixed motion path for the robot arm. The second step
is the storage action, where the robot arm's control system records the taught actions.
The third step is the reproduction of the teaching, where the robot arm repeats the
actions recorded during the teaching process.

In this lesson, we will use the joystick module to teach and learn the robot arm's
movements.

Ⅰ.Teaching Program
Open "Memory_Controlled_Robot_Arm.ino" in English\Arduino\2.Arduino
program\Lesson 6\Memory_Controlled_Robot_Arm, connect the ESP32 controller
board to the computer with a USB cable, select the correct controller board, processor,
and port, Upload the code to the ESP32 controller board.

Sample Code:
#include <ACB_ARM.h>//Add the Robot arm libraries
ACB_ARM ARM;

void setup() {
ARM.ARM_init(5,16,17,18);//The parameters are four Servo pins
ARM.JoyStick_init(32,33,34,35,36,39);//Joystick initialization
Serial.begin(115200);//set the baud rate to 115200
}

void loop() {
ARM.JoyStick_Memory();//JoyStick memory mode

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Attention: ①When determining the first and last position points of the robot arm,
it is necessary to save them promptly;
②The memory function can save up to 20 action groups at a time.

Instruction of teaching operation:

Joystick Joystick Operation Actions

Short press Save action

Left joystick
Long press Clear action

Right joystick Short press Run action

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Ⅱ.Extending Tasks
Based on the basic operational rules of teaching and learning for the robot arm, next
we can use the joystick module to achieve teaching and learning functions for
transporting objects with the robot arm.

Task description：
Use the joystick module to control the robot arm to pick up a block from point A on the
coordinate map, transport it to point B, and then return to the initial position. This

process involves teaching and learning.

Attention: Define the positions of points A and B as you wish.

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Lesson 7 Web Control of the Robot Arm

With the continuous development of wireless communication technology and Internet
of Things (IoT) technology, remote control technology is widely used in many fields. It
allows users to achieve precise remote control of terminal devices over long distances.
There are many types of wireless communication technologies, and this tutorial mainly
focuses on how to use WiFi communication technology to remotely control a robot
arm.

WiFi communication technology is a type of Wireless Local Area Network (WLAN)

technology that allows electronic devices such as smartphones, tablets, and laptops to
connect wirelessly to the Internet or a local area network (LAN). WiFi communication
technology connects devices to the same network using wireless routers or access
points (APs), enabling them to transmit and receive data between each other.

Web-based device control is one of the primary applications of WiFi communication

technology, widely used in areas such as smart homes and smart industries.
Web-based device control connects devices and control terminals over the Internet.
Interaction between devices and controllers can be achieved through simple HTTP
protocols. When a device connects to a controller, the controller provides a
straightforward web interface that users can access through a web page to control the
device.

Next, we will use a web page to remotely control the operation of the robot arm.

Ⅰ.Web Control Program

Open "Web_Controlled_Robot_Arm.ino" in English\Arduino\2.Arduino
program\Lesson 7\Web_Controlled_Robot_Arm, connect the ESP32 controller board
to the computer with a USB cable, select the correct controller board, processor, and
port, Upload the code to the ESP32 controller board.

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Ⅱ.Login To the Webpage

After successful upload, next, use your computer or mobile phone to scan for WiFi
networks. Connect to the WiFi hotspot named 'Robot_Arm' with the password
12345678, as shown in the following image.

After successfully connecting, enter "192.168.4.1" into the address bar of your
browser. The web page interface will appear as shown in the following image.

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Web Page
No. Function Description
Functionality
Control the movement of the robot arm through buttons on
1 Button control
the web page.

Control the movement of the robot arm by either moving

sliders or entering an angle into the input box on the
2 Slider control webpage.
Attention: Move the slider slowly; the faster you slide it,
the faster the robot arm moves.
You can save a total of 6 sets of robot arm actions (Mode 1
to 6), with each set capable of storing up to 20 different
actions, the specific operation process is as follows：
①Clicking "Start" changes the button to "End," then proceed
to "Save" the action. Based on your action path, click "Save"
3 Save action step by step. Note to click "Save" for both the starting
position and the ending position.
②Click "End" to complete the action save;
③Click "Run" to perform an act of memory;
④Click Repeat Start to repeat the memory action;
⑤Click "Reset" to reset the action group.
Enter the spatial coordinates x, y, z, then click "Confirm."
The robot arm will move to the specified spatial coordinates.
Spatial
4
positioning Attention: Below the x, y, z input boxes, there are
corresponding value range descriptions. If values are
outside the specified range, please enter them again.

III.Extending Tasks
According to the way of robot arm web page control, next we use three control
methods to realize the function of action saving for robot arm in the web page.

Task description：
(1)Use buttons to control the claws of the robot arm to draw square-like actions on the
map and save them in mode1;
(2)Use the slider to control the claws of the robot arm to draw a square-like action on
the map and save it in mode2;
(3)Spatial positioning is used to control the robot arm paw to draw a square-like action
on the map and save it in mode3.

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Lesson 8 Robot Arm APP Control

In the previous tutorial, we have learned to control the robot arm with a joy-stick and a
web page. In order to control the robot arm more conveniently, we choose to use the
mobile APP as the user end to control the robot arm through the mobile APP. Next, we
will see how to control the work of the robot arm through a mobile APP.

Ⅰ.APP Download
(1)If you are using an iOS device, search for the keyword "ACEBOTT" in the App
Store and download it. If you are using an Android device, search for the keyword
"ACEBOTT" in the Google Play Store and download it. The icon is shown as below.

Attention:
①This tutorial is applicable to ACEBOTT APP version 2.0 and above. You can click
the settings button in the upper left corner of the APP to view the software version
number. Please make sure that the software version you are using meets the
requirements;
②If you need to update the ACEBOTT software version, you can refer to the method
prompted in this tutorial to download the latest APP version.

(2)Open the app to enter the splash screen.

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(3)Enter the selection screen and choose the robot arm.

(4) Enter the robot arm control interface (it cannot be controlled directly yet, as the
program needs to be uploaded).

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Ⅱ.APP Control the Robot Arm

1.Upload the Arduino program for APP control of the robot arm.

Before using the APP to control the robot arm, you need to upload the Arduino
program that enables communication between the robot arm and the APP to the robot
arm.

Open "APP_Controlled_Robot_Arm.ino" in English\Arduino\2.Arduino

program\Lesson 8\APP_Controlled_Robot_Arm, connect the ESP32 controller board
to the computer with a USB cable, select the correct controller board, processor, and
port, Upload the code to the ESP32 controller board.

2.Connect to the Robot Arm's WiFi

Scan for WiFi networks on your computer or mobile phone and connect to the WiFi
hotspot named "Robot_Arm" with the password 12345678, as shown in the image
below.

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Attention: The hotspot name and password are predefined in the program, but
users can customize them. When we have multiple robot arms, we can
distinguish each one by using different WiFi names.

3.Using APP controls

After connecting the WiFi, click the connection icon in the upper right corner of the
APP to complete the connection.

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After completing the above operations, return to the interface shown below again, and
then the control of the robot arm can be realized. The main control actions are: slider
control, input box control, custom mode (start, end, save, run, reset), space
positioning function and position recovery function.

Introduction of robot arm APP function:

(1)Slider control: Move the sliders corresponding to different servo motors of the
robot arm to adjust its posture and orientation.

(2)Input box control: Next to each slider, there is an input box where you can enter
the desired servo angle to control the posture and orientation of the robot arm.

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(3)Action saving: Click "mode1", there will be 6 modes to choose from (Mode 1~6),
and 20 different action groups can be saved in each mode. Click "Run" to perform a
memorized action, click "Loop" to repeat the memorized action, and click "Reset" to
clear the memorized action. The specific operation process is the same as web page
control.

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(4)Spatial positioning: Enter the x, y, z spatial coordinates, and the robot arm will
move to the specified spatial coordinate point.

Attention: Due to the structure of the robot arm, there are limitations on its
range of motion. When entering coordinates, if the values exceed the robot
arm's range of motion, you can enter them again.

(5)Position initialization: Click on the refresh icon at the top left corner, and the robot
arm will return to its initial position.

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