6-DOF Robotic Manipulator
CC++
A low level firmware to control a 6-DOF manipulator using an ESP32 microcontroller.
I am currently developing a library for my six-degree-of-freedom robotic manipulator, which controls the robot, calculates its forward, inverse, and differential kinematics, the dynamics of the system, and handles trajectory planning. In the future, I would like to incorporate ROS and upgrade the hardware to include force sensors to allow impedence control.