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RoArm-M1 is a mechanical arm based on the ESP32 series structure, including the clamping freedom of the gripper. This product has a total of 5 degrees of freedom, all of which are driven by a 30kg.cm high-torque ST3215 serial bus servo. Each servo can feed back the current joint voltage, position, current, temperature, load, and other information. And the big arm adopts a 1:3 reduction group with timing pulleys, which greatly improves the effective torque of the mechanical arm on the one hand, and can be used to avoid damage to structural parts caused by excessive loads on the other hand.
Onboard WIFI, OLED screen, RGB-LED lights, and open source all product-related codes, including the underlying serial bus servo control function library, serial communication control functions, cross-platform WEB control functions, inverse kinematics, ROS 2 demos, URDF models, etc.
The demo contains a variety of control methods: angle control mode, inverse kinematics coordinate control mode, recording action and replaying action, and leading-following control mode based on ESP-NOW communication protocol.
RoArm-M1 can support a variety of host computers, as long as it is connected to the host computer via a USB cable. The host computer can be a PC, Raspberry Pi, Jetson Nano, or other devices, and the data in JSON format can be sent and received via the USB serial port to control the robotic arm or get feedback from a robotic arm.
Features
- RoArm-M1 is a serial robotic arm with 5-DOF in total, including the clamping freedom of the gripper.
- The open-source demo includes angle control and coordinates control.
- The lower computer demo contains open source inverse kinematics algorithm.
- Supports Leading-following mode based on ESP-NOW.
- Supports motion recording and replaying control mode.
- Based on ESP32, supports WIFI and UART communication.
- The open-source demos include WEB applications that can be used across platforms. You only need to install a browser to use mobile phones, tablets, and computers to control the robotic arm.
- Supports multiple host computers, and provides ROS 2 demo and other rich learning resources.
- Cameras can be installed on the gripper of the robotic arm.
- All codes are open source and provide rich online development documents and tutorials.
Resources
Package Includes
