3D Printed robot arm powered by ROS 2 and Arduino and controlled via MoveIt! 2 and Amazon Alexa. It is developed and programmed in the online course named "Robotics and ROS 2 - Learn by Doing! Manipulators"
3D Printed robot arm powered by ROS 2 and Arduino and controlled via MoveIt! 2 and Amazon Alexa.
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This project aim is to build a 3 axis robot arm with simple and cheap hardware that can be easily and remotely controlled. Despite all the other robot arms built with an Aruidno Uno that are controlled by applying joint angles, this can be controlled assigning X, Y, Z coordinates in the workspace because it implements the inverse kinamatic. Furthermore, it implements a speech recognition module that can run on any computer with a microphone that is connected to the same Wi-Fi network of the robot.
This Robot is Build and Developed in the online course called: Robotics and ROS 2 - Learn by Doing! Manipulators and is currently available on the following platforms:
If you want more information on the course or just want to check the course material this link is for you
This robot is powered by:
And is controlled by:
Once it's printed and assembled according and connected, there are few configuration to be made both in Ubuntu and in the Arduino UNO.
Make sure you install correctly the following required tools before continuing
sudo apt-get update && sudo apt-get install -y \
ros-humble-joint-state-publisher-gui \
ros-humble-gazebo-ros \
ros-humble-xacro \
ros-humble-ros2-control \
ros-humble-moveit \
ros-humble-ros2-controller \
ros-humble-gazebo-ros2-control
sudo apt-get update && sudo apt-get install -y \
libserial-dev \
python3-pip
pip install pyserial
git clone https://github.com/AntoBrandi/arduinobot.git
cd ~/Arduino-Bot/arduinobot_ws
colcon build
. install/setup.bash
To launch the ROS simulated robot
ros2 launch arduinobot_bringup simulated_robot.launch.py
To launch the real robot, connect the Arduino to the PC and upload the code in the folder on the Arduino controller. Then launch the real robot
ros2 launch arduinobot_bringup real_robot.launch.py
To launch the interface with Alexa download ngrok and create an account then setup ngrok with your key
./ngrok authtoken <YOUR-KEY>
Then start the ngrok web server with
./ngrok http 5000
Copy the link that provides ngrok and paste it in the section Endpoint of your Alexa Developer account
Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.
git checkout -b feature/AmazingFeature
)git commit -m 'Add some AmazingFeature'
)git push origin feature/AmazingFeature
)Distributed under the MIT License. See LICENSE
for more information.
Antonio Brandi - LinkedIn - [email protected]
My Projects: https://github.com/AntoBrandi