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Robot Arm Sequence

The robot arm sequence connects Python code to physical hardware. The full course uses the arm to play Tic-Tac-Toe, but teachers can also use these modules as a standalone robotics lab.

Modules

Module Student task Main concept
3D printing and building Assemble the arm from printed and mechanical parts Mechanical structure
Wiring Connect motors and controller safely Power and communication
Dynamixel setup Assign motor IDs and confirm communication Actuator configuration
Position control Move individual joints and record poses Calibration
Vision Identify the camera and read board state Sensing
Machine learning object sorting Train an image classifier and map predictions to actions Perception and safety-gated action
Game integration Connect game logic, camera state, and robot motion Closed-loop robotics

Hardware Files

The repository includes printable and design files:

Safety

Students should begin with small motions and keep clear of the arm while it is powered. If the arm moves unexpectedly, disconnect power before debugging code.

Source Code