This week I finished designing and printing the robot arm. My biggest challenges next week will be wiring the motors sensors and controllers. I will then need to connect the ESP32 to a computer and see if I can get position feedback, and do PWM motor control. Ive made a wiring diagram but will need to order many components. The suction gripper has proved effective on lifting packages > 4 lbs.
I set up coordinate frame transform and made an algorithm for setting the positions of robot moves .