Atharva Bhorpe · Writing
Robotic Arm Control using IMU (RSS Project)
An ESP32-based teleoperation system that drives a simulated Kinova arm in Cartesian space using IMU, encoder, and IR sensor inputs.
An ESP32-based teleoperation system that drives a simulated Kinova arm in Cartesian space. Sensor inputs on the ESP32 are streamed over WiFi as raw UDP via micro-ROS into ROS 2, where MoveIt turns them into real-time motion commands.
How it works
- IMU (MPU6050) → X–Y motion of the end-effector
- Rotary encoder → Z-axis motion
- IR sensor → gripper open / close
- Pipeline: ESP32 → micro-ROS (UDP) → ROS 2 Humble → MoveIt → Kinova arm
Hardware
- ESP32 development board
- MPU6050 IMU (I2C)
- Rotary encoder
- Digital IR sensor
Guides
Start with the micro-ROS setup, then use the sensor-interfacing notes: