Armbot using Raspberry-pi

Raghav Khunteta Rika Mallika

Symbiosis Institute of Technology, Pune Campus, Symbiosis Institute of Technology, Pune Campus,
Symbiosis International (Deemed University), Pune, India Symbiosis International (Deemed University), Pune, India
[email protected] [email protected]

Sambhav Bhansali Amarja Pote

Symbiosis Institute of Technology, Pune Campus, Symbiosis Institute of Technology, Pune Campus,
Symbiosis International (Deemed University), Pune, India Symbiosis International (Deemed University), Pune, India
[email protected] [email protected]

Marshiana D
Symbiosis Institute of Technology, Pune Campus,
Symbiosis International (Deemed University), Pune, India
[email protected]

Abstract—This paper presents the design, implementation, and agriculture, space exploration, pharmaceutical manufacturing,
control of a robotic arm using raspberry- pi, aiming to provide an 3D printing, construction, environmental monitoring, defense,
intuitive and user-friendly interface for remote manipulation of and entertainment. They improve production efficiency, op-
the arm’s movements. The system consists of mechanical compo-
nents, sensors, microcontrollers, and an Android application for timize inventory management, and perform repetitive tasks.
remote operation. It enables seamless communication between Their versatility and adaptability make them valuable assets in
the gaming console/keyboard and the robotic arm through a various sectors, with their applications continually expanding.
wireless connection, allowing real-time control and monitoring Throughout this paper, the intricate details of hardware
of the arm’s movements. The control algorithm focuses on design, software implementation, the mechanisms that allow
accuracy, precision, and safety, incorporating collision detection
and force feedback mechanisms. The paper discusses challenges for precise control and manipulation, and the potential appli-
faced during the design and implementation process, including cations across multiple domains.
mechanical design considerations, sensor integration, wireless Furthermore, we will present experimental results demon-
communication protocols, and real-time control synchronization. strating the capabilities of the robotic arm and its potential
impact in fields requiring precision and remote control.
I. I NTRODUCTION II. L ITERATURE R EVIEW
The pursuit of precision, flexibility, and remote-control Megalingam et al. stated that robots have been widely
capabilities has fueled innovative developments in robotics and deployed in a range of scenarios, including industrial, medical,
automation. The incorporation of versatile platforms such as and rescue missions, thanks to recent technological advance-
the Raspberry Pi and wireless communication via Wi-Fi has ments. The emergence of real-time human interaction with a
opened new frontiers for robotics in this age of interconnected robotic arm opens up exciting opportunities for the develop-
technologies. This paper describes a project demonstrating ment and practical use of robotic arms. This article details
the potential of a wireless-controlled automatic robotic arm the design and evaluation of a compact Bluetooth-enabled
powered by the Raspberry Pi capable of performing precise prototype for a robotic controller arm, which allows manual
motions. control of an actual three-degree-of-freedom robotic arm. The
The primary goal of this project is to use Raspberry main goal is to build and use a small robotic arm that can
Pi’s capabilities as a low-cost, compact, and programmable imitate what a larger robotic arm can do when controlled by
computing unit to improve the functionality and flexibility of a human operator. [I]
a robotic arm. The Raspberry Pi was chosen as the central According to Williamson et al. there is a technique for
controller due to its computational power and adaptability. The controlling a robot arm using natural dynamics is presented.
Wi-Fi connectivity aspect is thoroughly examined, emphasiz- It makes use of a flexible arm and straightforward nonlinear
ing its role in enabling real-time data transfer between the oscillators. Special actuators on the arm provide it resistance to
user interface and the robotic arm. Furthermore, we provide collisions and smooth mobility. Oscillators generate rhythmic
insights into the automatic robotic arm’s construction and commands, and joint motion feedback modulates oscillator
testing ensuring precision and reliability in its operations. behaviour. For a variety of rhythmic and discrete actions,
Automatic robotic arms are versatile and precise tools used including juggling, turning cranks, playing with toys, sawing,
in various industries, including manufacturing, healthcare, tossing balls, hammering nails, and drumming, the arm’s
resonant qualities are used. The coordination is resistant to An organised reward system with stepping incentives promotes
significant variations in oscillator settings and arm dynamic effective learning. Initial findings indicate that policies may
qualities because the oscillators modify their commands to be directly transferred to a real robot without additional
be suitable for the arm dynamics and task. The thesis offers training.[VI]
experimental data and analytical methods to comprehend, Choudhary Ganesh et al. stated that in this study, they
forecast, and develop novel implementations. [II] provide a method for completely electrical (i.e., devoid of
Yang Woosung et al. essays provides a study that suggests mechanical sensors) human computer interface. The goal is to
central pattern generators (CPGs)-based robotic system control replace the outmoded techniques of controlling robotic arms
strategies that are biologically inspired. This method handles with joysticks and buttons with more natural methods such
issues like joint reproducibility and motion production in as hand motions or gestures. Here, we propose a method for
duplicate DOF systems.In addressing this challenge, artificial achieving the previously described goal by using a web cam-
neural oscillators, along with virtual force and virtual muscle era for image processing. By using computational geometry
damping, offer potential solutions. These components enable calculations, we are able to interact with robots in real time
a 7-degree-of-freedom robotic arm to perform self-adjusting by detecting the essential elements of the hand, such as the
movements, allowing it to seamlessly transition from pre- fingers. Our method is capable of precisely locating fingers
determined actions to more compliant and adaptable motions. even when the forearm is present. Additionally, the system
The outcomes of the experiment demonstrate that, in the supports a certain amount of palm and forearm movement,
presence of joint kinematic redundancy, human-like motions which increases the degree of freedom in palm centre esti-
and motion repeatability are met.[III] mate.[VII]
Tarn T-J., et al. stated robot manipulator and joint motor Kasahara Hironori et al. articulated that a method for
dynamics are included into a nonlinear feedback robot con- computing robot-arm control using multiple parallel proces-
troller that is presented. By combining this third-order dynamic sors is outlined in this document. The system employs two
model with differential geometry control theory, a linearized different multiprocessor scheduling strategies: one is based on
and decoupled controller is produced. By operating in the prioritizing the critical path and most immediate successors
robot task space, the controller does not require breaking down (CP/MISF), while the other involves a depth-first search with
motion orders into joint space commands. The controller’s an implicit heuristic (DF/IHS). These techniques are applied
viability is shown by computer simulations, and actual testing to concurrently execute real-time control calculations for the
on the PUMA 560 robot arm shows its effective trajectory Stanford manipulator, specifically for computing the Newton-
tracking and resilience in the presence of model imperfections. Euler equations of motion. In a test run with six pairs of
The suggested controller performs better than a nonlinear feed- parallel processors, the processing time was measured at 5.37
back controller that relies just on manipulator dynamics.[IV] milliseconds. Importantly, it is demonstrated that this parallel
Flesher Sharlene N., et al. claimed individuals suffering processing approach can be adapted to work with varying
from tetraplegia can experience improved functional mobility numbers of processors. [VIII]
through the use of prosthetic arms controlled by a brain- Fu Shuangquan et al. claimed that in the realm of robotics,
computer interface. This bidirectional brain-computer interface a six-degree-of-freedom (6-DOF) robotic arm stands out as a
has the capability to enhance vision with the addition of tactile highly precise mechanical device, surpassing the capabilities
sensations. It achieves this by recording neural activity in the of human arms. Nevertheless, when it comes to complex
motor cortex and inducing tactile sensations through intracor- scenarios, managing wireless control over short distances
tical microstimulation of the somatosensory cortex.Due mostly becomes a challenge. The robotic arm demands precise op-
to a reduction in the amount of time spent trying to grip eration, necessitating the seamless transmission of real-time
items, this leads to shorter trial durations on clinical upper- data from a remote location. To address these challenges,
limb evaluations. By imitating biological control principles, the integration of Internet of Things (IoT) technologies and
task performance gets closer to what is possible for able- web applications, which enable near-real-time data exchange
bodied humans.[V] and offer cross-platform control capabilities, proves to be a
According to James Stephen et al. recent developments in promising solution. This research focuses on the utilization
robot arm control are moving towards end-to-end approaches of the web-based MQTT communication protocol and the
that directly build a controller from raw sensor data using deep control of a robotic arm through the ESP8266 network data
reinforcement learning. However, it is frequently impossible transmission module. This platform-independent web-based
to obtain enough training data using real-world trials due to control allows for precise and real-time operation of robotic
the enormous dimensionality of state space. Learning a robot equipment from remote locations.[IX]
controller in a simulation first, then applying it to a real Kopperger Enzo et al. stated that nanorobotics applications
robot, is an alternate option. In this method, a 7-DOF robotic of dynamic, self-assembled DNA nanostructures need for
arm is trained in a control task without any prior experience quick and dependable actuation systems. As a result, we cre-
using 3D simulations. The controller receives information in ated a DNA-based molecular platform that measures 55 by 55
the form of pictures from the surrounding environment and nanometers and includes a 25-nanometer-long robotic arm that
generates motor motions for identifying and grabbing a cube. can be extended to more than 400 nanometers and is controlled
by externally provided electrical fields. The arm is capable According to Gautam Rahul et al., the automobile industry
of swiftly and accurately relocating to different positions on now leads, but there is a growing trend of utilizing industrial
the platform, as demonstrated by fluorescence microscopy and robots in various sectors, including but not limited to food,
single-pair Förster resonance energy transfer measurements. consumer goods, wood, plastics, and electronics industries.
This arm has the capacity to precisely control the movement The objective of this endeavor was to develop a robot with
of molecules or nanoparticles over tens of nanometers, thereby a lightweight structure constructed from carbon fiber and alu-
enabling the regulation of photonic and plasmonic processes minum, alongside a prototype stepper motor. Additionally, the
through electrical means. Additionally, experiments involving wrist component needs to be designed in a manner that allows
force-induced DNA duplex melting reveal the arm’s ability to cables to pass through internally. Given the cost implications
exert piconewton forces. [X] of cable replacements, it is crucial to design cables with
Syed Abidhusain et al. said that robots heavily rely on sen- minimal friction to prolong the intervals between maintenance
sors, which play a crucial role in assessing the robot’s present and repairs.[XV]
condition. Robotic applications demand sensors characterized
by exceptional levels of consistency, precision, and reliability. III. M ETHODOLOGY
Among these, the flex sensor stands out as a device capable Creating a robotic arm using a raspberry pi involves several
of accomplishing these tasks with remarkable accuracy. Utiliz- steps and considerations. Below is a high-level methodology
ing microcontroller programming, it is feasible to effectively to get started.
govern the pick-and-place movements of a robotic arm. This
contribution serves as an educational concept, as the field of A. Hardware Parts
robotic control has emerged as a captivating and demanding 1) Raspberry-pi 3: The Raspberry Pi is utilised as the
research pursuit in recent times.[XI] primary component since it manages the robot’s movements
Premkumar Keerthi et al. articulted that this research sug- and all of its functions. It uses a Raspberry Pi 3 Model B
gests a technique for operating a robotic arm using an Android board. This board has 40 general-purpose input and output
platform application. Wi-Fi is used to link the raspberry pins and a quad-core processor, making it quicker and more
piboard and android phone. The robotic arm is built to do powerful than its predecessor. It is capable of 60 frames per
exactly what a human hand would do, as its name implies. second 1080p MP4 video playback. It has Bluetooth and Wi-
The raspberry pi board receives a signal from the android Fi built in. Moreover, the device has four USB 2.0 connections
app, which the robotic arm then interprets in accordance with with 480 Mbps data transmission, an 802.11n wireless LAN,
the predetermined programme. The android app serves as the a 400 MHz video core for multimedia, 1 GB of LPDDR2
robotic arm’s control panel. The programme is designed for memory with 900 SDRAM, and two interface connectors for
the Raspberry Pi in the Python programming language. The a camera and a display.
rotation of the arm will be governed by the various data.[XII] 2) Robotic Arm : Robotic arms are highly versatile and can
Jahnavi Kadirimangalam et al. researched a system cre- be customized for specific applications by adjusting their size,
ated to facilitate the teaching and learning of robotic arm shape, and end effectors. They offer benefits such as precision,
algorithms, consisting of a 5-degree-of-freedom OWI robotic repeatability, and the ability to perform tasks in hazardous or
arm, a control unit based on Arduino, and a Graphical User inaccessible environments, making them indispensable tools
Interface (GUI) implemented in MATLAB. The system in- in many industries. Advances in robotics and automation
corporates a kinematics algorithm in its backend, enabling continue to expand the range of tasks that robotic arms can
remote control of the arm’s end-effector. The robotic arm is perform.
additionally equipped with accelerometers and programmed 3) Gaming Console/Keyboard : In robotics projects, gam-
using MATLAB. The combination of the MATLAB-based ing controllers can be used to remotely control robots, drones,
GUI, Arduino controller, and accelerometers offers a practical or other automated systems. This is especially useful for
laboratory model for instructing and analyzing robotic arm prototyping and testing before implementing more complex
platforms. Moreover, the arm can also operate independently control interfaces.
for tasks such as pick-and-place operations. [XIII] 4) Micro Servo sg90 : The SG90 micro servo is a com-
Zhang Kevin et al. created a modular robotic control stack pact and popular servo motor often employed in hobbyist
that offers the Franka Emika Panda Research robot an adapt- and small-scale robotics endeavors. With its diminutive size,
able and user-friendly interface. This approach breaks down measuring approximately 23mm x 12.2mm x 29mm, it’s well-
abilities into high-level robot control instructions. Python pro- suited for applications where space is limited. Despite its small
vides instructions, while C++ implements low-level control. stature, the SG90 provides a reasonable amount of torque,
We can quickly prototype novel control techniques thanks typically around 1.5 to 2.5 kg/cm, making it capable of moving
to this modular architecture, which is crucial for research lightweight mechanical components. Operating in the voltage
applications. In over 5 published research publications, we range of 4.8 to 6.0 volts, this servo is compatible with standard
have used this approach to address a range of real-world robot power sources like AA batteries. Its movement is controlled
problems. Currently, several robotics labs internally share the by sending PWM (Pulse Width Modulation) signals, and it’s
framework.[XIV] often integrated into projects using microcontrollers such as
Arduino or dedicated servo controllers. SG90 servos typically
come with a selection of servo horns and mounting hardware, START
simplifying their integration into various projects.
5) Motor Driver L298 : The motor driver translates the
signals and directives received from the arm’s controller into
TRUE
actionable instructions for the motors. This orchestration en- IF MOVE THE SERVO -1 UPWARD
sures that the motors function within safe operating limits, DATA- TO LIFT THE ARM UPWARD
Psx.R1
preventing overheating or overloading. Think of it as the silent
architect behind every graceful and powerful motion executed FALSE

by the robotic arm, from delicate and precise manipulations

to robust and forceful actions. It’s the uncelebrated yet indis- IF
TRUE
MOVE THE SERVO -1 DOWNWARD
pensable element that guarantees each movement is executed DATA- TO THROW THE ARM DOWNWARD
with finesse and unwavering dependability.The key advantage Psx.L1

of the L298 is its ability to handle relatively high currents,

FALSE
making it suitable for driving both small and medium-sized
TRUE
motors. Its built-in H-bridge configuration allows it to control
IF
the motors’ rotation in both forward and reverse directions, DATA-
MOVE THE SERVO -2 CLOCKWISE
TO OPEN THE GRIPPER
making it indispensable in robotics and other motion control Psx.R2
applications.
FALSE

TRUE

IF MOVE THE SERVO -2 ANTI

CLOCKWISE TO CLOSE THE GRIPPER
DATA-
Psx.L2

POWER Motor
FALSE
Raspberry- MOTOR ROBOTIC
pi DRIVER IC ARM
IN BUILT WIFI Motor
END

Fig. 2. Flowchart of Robotic Arm

Initialize and start PWM for all servos.

Define functions for motor control and servo control
Fig. 1. Block Diagram brake()- Set all motor and servo control pins to low to stop
the motor and servos.
B. Software Part rear forward- Set specific pins for rearward motor motion.
forward: Set specific pins for forward motor motion and
Designing the software for a robotic arm project using a
invoke rear forward for rearward servo motion.
raspberry pi involves multiple aspects, including programming
right: Set specific pins for right motor motion and invoke
the ESP32 itself and potentially creating a user interface for
rear forward for rearward servo motion.
controlling the robotic arm.
left: Set specific pins for left motor motion and invoke rear
C. Algorithm forward for rearward servo motion.
Control Motor and Servo using Raspberry Pi GPIO Start a loop to receive user input and control the motor
Import the necessary libraries: based on the input. This loop will run for 1000 iterations.
Import the RPi.GPIO library for GPIO control. Import the Prompt the user for input (w: forward, s: brake, a: left, d:
time library for managing timing. Set the GPIO numbering right, q: quit). Based on user input, call the corresponding
mode to BOARD to use physical pin numbers. function to control the motor and servo. If the user enters
Define and configure GPIO pins for motor control PIN IN1, ’q’, break out of the loop. After the motor control loop, start
PIN IN2, PIN IN3, PIN IN4, PIN1 IN1, PIN1 IN2, PIN1 IN3, another loop to control servos. This loop will run for 100
PIN1 IN4. iterations.
Set up GPIO pins for servo control (servo1, servo2, servo3) Prompt the user for the servo motor number (1, 2, 3).
and create PWM objects for each servo. Set the PWM fre- Based on the user’s input, ask for the angle and control the
quency to 50Hz. corresponding servo using PWM. Repeat this for 100 samples.
Perform cleanup and release GPIO resources in a finally block
to ensure proper shutdown.
Stop PWM for all servos. Clean up GPIO pins. Print a
”Goodbye!” message. The program execution ends.
This algorithm describes the flow of the provided Python
code, which controls a motor and three servos using Raspberry
Pi GPIO pins and takes user input to control the hardware.

IV. R ESULTS
Fig. 3,4,5 are the final model of this project, in which
the robotic arm using Raspberry Pi demonstrated successful
implementation and control of the robotic arm for various
tasks.

Fig. 5. .

arm. We have explored the integration of hardware com-

ponents, the development of software algorithms, and the
practical applications of this system. The combination of a
cost-effective Raspberry Pi and a versatile robotic arm presents
an accessible and educational platform for robotics enthusiasts.
This technology holds promise in fields like automation,
manufacturing, and healthcare. As we continue to advance
in this area, opportunities for enhancing the capabilities and
applications of Raspberry Pi-based robotic arms will expand,
fostering innovation and automation in various industries.

Fig. 3. .
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