5-DOF ESP32 Robotic Arm
A five-degree-of-freedom robotic arm built from low-cost components and controlled by an ESP32 — manual slider control and live forward-kinematics position readout over a web interface, a redesigned parallel-jaw gripper, and HMAC-SHA256 command authentication so only signed commands move the motors. Inverse kinematics was designed but not completed in the project timeline.
What it does
Manual control of all five joints through web sliders (0–180°).
Forward kinematics computes (x, y, z) live from the current joint angles and displays it on the web interface.
Smooth, incremental servo motion instead of instant jumps — no snapping or vibration. A redesigned parallel-jaw gripper, replacing an unreliable gear-based original.
A web-based control interface hosted directly on the ESP32.
HMAC-SHA256 command authentication so the ESP32 only executes signed, verified commands.
Inverse kinematics — solving joint angles from a target (x, y, z) — was designed but not completed within the project timeline. It stayed on manual slider control and forward kinematics readout instead.
Group Members:
Md Ali Haider Ontor - https://haiderontor.gamer.gd/index.html?i=1
Ahmad Haider - London Metropolitan University
Ahmed - London Metropolitan University
Nora Palahi - European Space Agency | London Metropolitan University
Mohammad Showaib Bin Nasir - London Metropolitan University