A modular stepper-motor robotic arm prototype developed at CYBORG (The Official Robotics and Automation Club of NIT Rourkela).
Our Robotic_ARM is a multi-axis robotic arm prototype built with:
- Precision stepper motor control
- TMC2209 UART configuration
- Motion control logic & basic inverse kinematics
- Custom PCB design
- Mechanical prototyping and tolerance validation
The system is based on an ESP32-class microcontroller driving multiple TMC2209 stepper motor drivers using STEP/DIR pulses with UART-based configuration.
- Microcontroller: ESP32 dev board
- Motor Drivers: TMC2209 (UART + STEP/DIR)
- Motors: NEMA17 Stepper Motors
- Input Device: 2-axis Analog Joystick
- Control Method: STEP/DIR pulse generation + UART configuration
- Power: External motor power supply with current limiting
- 2-axis real-time motor control
- Deadzone filtering
- Speed mapping based on joystick deflection
- Constant-speed rotation tests
- Periodic motion patterns
- Maximum RPM testing
- Multi-motor synchronization
- Straight line movement (step conversion math)
- Rectangle drawing demo
- Basic planar inverse kinematics (experimental)
- RMS current configuration
- Microstepping setup
- StealthChop tuning
- UART address-based multi-driver setup