Atharva Bhorpe · Project
IMU-controlled Robotic Arm
An ESP32-based teleoperation system for Cartesian control of a simulated Kinova arm.
- Role
- Sensor-input and robot-control integration
- Tools
- ROS 2 Humble · MoveIt · ESP32 · Arduino
Problem and objective
Control a simulated Kinova arm in Cartesian space with a handheld sensor system rather than a conventional robot interface.
The published tutorial describes an ESP32 streaming sensor inputs over WiFi via UDP and micro-ROS to ROS 2. MoveIt turns those inputs into robot motion commands.
My contribution and approach
The supplied résumé records building the teleoperation system and integrating three input devices:
- MPU6050 IMU: X–Y end-effector motion.
- Rotary encoder: Z-axis motion.
- IR sensor: gripper open and close.
The tutorial lists ROS 2 Humble, MoveIt, ESP32 and Arduino, with the MPU6050 connected over I2C.
Reported results and limitations
The published tutorial and résumé describe the working control pipeline for a simulated arm. They do not supply quantitative accuracy, latency or task-success measurements.
This portfolio does not claim deployment on a physical Kinova arm. The linked repository is available, but its README currently contains only the project name. The public tutorial provides the fuller system description.