This repository presents an implementation of a 3DoF manipulator. The manipulator is built with LX16-A servos from LewanSoul and 3D printing, featuring 3 load cells in each joint. The low-level conntrol and kinematics are controlled by a esp32-wroom microcontroller within a schematic for communication with the servors. A ROS 1 package was developed to represent the URDF model of the robot and clone it's motion for visualization. It also alows to send command and adjust parameters, see below.
- mr_manipulator_ros - ros package to communicate, interact and command the real manipulator.
- mr_manipulator esp32 - Esp32 embedded firmware to control the real robot.
Check the halfduplex communication protocol for the servo motors here.
x5 speed
