Robo-Arm

My journey creating a robotic arm

Goal

To create a robotic arm with 4 Degrees of Freedom (3 Planar + 1 Rotation at the base)

Project Structure

• Root Directory: contains CMake files for building and .ioc file from STM32CubeMx. The .ioc contains configuration used by STM32CubeMx for its code generation.
• Core/: contains the code generated by STM32CubeMx. Also contains main.c, in which we redirect the control flow to our own in Application/
• Application/: contains code specific to the application. I.e. hardware control, inverse kinematics, etc.
• Drivers/: generated by STM32CubeMx
• ThirdParty/FreeRTOS: contains FreeRTOS and importantly FreeRTOSConfig.h

TODO: sketch

Software Architecture

TODO:

Inverse Kinematics

TODO: maths

Hardware

• SG90 Servo, positioned using 5V PWM signal
• Level Shifter for shifting PWM signal from 3.3V board level to 5V servo level
• TODO: stm32 board description

Building

TODO: More detailed steps Cross-Compile using CMake for ARM using: arm-none-eabi-gcc toolchain

Debugging

On-board Debugging can be done using OpenOCD using the config st_nucleo_f4.cfg in the root directory