🦾 6-DOF Robotic Arm — Multi-Mode Control (ESP32 + Python + Web)

This project demonstrates a 6 Degree of Freedom (6-DOF) Robotic Arm powered by ESP32, capable of operating in four distinct modes:
1️⃣ Joystick Control · 2️⃣ Web Interface Control · 3️⃣ Hand Gesture Control · 4️⃣ Autonomous Pick & Place

Each mode showcases a unique way of controlling the robotic arm using embedded systems, web technologies, and computer vision.

---

🚀 Table of Contents

• Overview
• Modes of Operation
  • Joystick Control
  • Web Interface Control
  • Hand Gesture Control
  • Autonomous Pick--Place
• Tech Stack
• Project Structure
• Hardware Requirements
• Software Setup
• How to Run
• System Overview
• Future Improvements
• License
• Acknowledgements

---

🧠 Overview

The 6-DOF robotic arm is designed to perform precise movements and tasks under multiple control interfaces.
The project integrates ESP32 microcontroller, Python-based computer vision, and WebSocket communication to deliver real-time, versatile control.

---

🔧 Modes of Operation

1. 🎮 Joystick Control

• Runs directly on the ESP32.
• Utilizes three analog joysticks, each axis controlling one servo motor.
• The control logic:
  • When joystick readings exceed a defined threshold, the corresponding servo rotates by a fixed delta angle per second.
• Enables smooth, manual control of all six servo motors.

---

2. 🌐 Web Interface Control

• Built using ESP32 Wi-Fi and WebSocket communication.
• The web client (hosted via Render.com) sends servo angles through a relay server to the ESP32.
• ESP32 receives and executes the movement commands in real-time.
• Features a responsive web interface for angle input and control.

---

3. ✋ Hand Gesture Control

• Implemented in Python using OpenCV for real-time hand tracking.
• Detects and counts number of fingers raised using a webcam feed.
• Each finger count corresponds to a specific servo motor.
• The mapped servo moves by a fixed delta angle when the gesture is detected.
• Communicates with ESP32 via serial port (pyserial).

---

4. 🤖 Autonomous Pick & Place

• Python-based autonomous control mode.
• The user inputs pick coordinates (x, y, z) via terminal.
• Python computes inverse kinematics to determine the necessary servo angles.
• ESP32 executes the pick-and-place motion sequence.
• Demonstrates fully automated operation.

---

🧰 Tech Stack

Component	Technology
Microcontroller	ESP32
Languages	C++ (Arduino), Python, HTML, JavaScript
Libraries (Arduino)	Servo, WiFi, WebSocket
Libraries (Python)	OpenCV, PySerial, NumPy
Web Hosting	Render.com (WebSocket relay & UI hosting)

---

📂 Project Structure

├── esp32/ │ ├── joystick_control/ │ ├── websocket_control/ │ ├── common/ ├── python/ │ ├── hand_gesture_control/ │ ├── pick_and_place/ │ ├── utils/ ├── web/ │ ├── index.html │ ├── websocket_client.js │ └── styles.css └── README.md

---

⚙️ Hardware Requirements

• ESP32 Development Board
• 6x Servo Motors (3 -MG995 , 3 -SG90 )
• 3x Analog Joysticks
• Camera/ laptop webcam (for gesture detection)
• External Power Supply for Servos -- Lipo with buck converter
• Jumper Wires, Breadboard, and Connectors

---

🧩 Software Setup

🖥️ Arduino IDE Setup

1. Install ESP32 board package in Arduino IDE.
2. Install libraries:
   • ESP32Servo.h
   • WiFi.h
   • WebSocketsClient.h
3. Flash the corresponding .ino file depending on the mode.

🐍 Python Setup

pip install opencv-contrib-python pyserial numpy mediapipe

▶️ How to Run
1️⃣ Joystick Mode

Upload joystick_control.ino to ESP32.

Connect joysticks to analog pins.

Move joysticks to control each servo axis.

2️⃣ Web Mode

Upload websocket_control.ino to ESP32.

Open the hosted web interface.

Adjust angles and observe real-time servo motion.

3️⃣ Gesture Mode

Connect camera and ESP32 via USB.

Run:

python hand_gesture_control.py


Move your hand in front of the camera to control servos.

4️⃣ Pick & Place Mode

Run:

python pick_and_place.py


Enter pick coordinates in terminal.

The arm will autonomously pick and place the object.