ESP32 Robotic Arm Project

A low-cost 3-DOF robotic arm powered by the ESP32, designed for web-based control and autonomous object pickup using OpenCV color detection.

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Features

• Web Interface hosted directly on ESP32
  • Real-time servo control (base, shoulder, elbow, gripper)
• Automatic Object Pickup
  • Detects red and blue objects using OpenCV
  • Moves and places objects automatically on a palm or platform
• Wi-Fi Connectivity
  • ESP32 connects as an access point or to local Wi-Fi
• Cross-language integration
  • C++ (ESP32 control logic)
  • Python (OpenCV for color detection)
• Low-cost design
  • Compatible with standard SG90 or MG996R servos

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System Overview

Component	Description
ESP32	Handles servo control and web interface
Servo Motors	4 DOF: base, shoulder, elbow, gripper
Python + OpenCV	Detects red/blue boxes and sends commands to ESP32
WebSocket	Enables real-time control between web UI and ESP32
Power Supply	5V or 6V depending on type of servos

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Web Interface

• Hosted directly by ESP32 using AsyncWebServer
• Control panel for manual operation
• Works on phone/laptop browser

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Requirements

Hardware

• ESP32 Dev Board

• 4x Servo Motors (base, shoulder, elbow, gripper)

• Power supply (≥2A)

• Jumper wires and arm chassis

• Could buy here https://robu.in/product/pro-range-esp32-robotic-arm-with-web-control-kit/

• Laptop cam or a web cam

  Wiring Connections

Servo	Function	Signal Pin (ESP32)	Power	Ground
Base	Rotation	D33 (GPIO33)	+5V	GND
Shoulder	Up/Down	D27 (GPIO27)	+5V	GND
Elbow	Bend	D25 (GPIO25)	+5V	GND
Gripper	Open/Close	D14 (GPIO14)	+5V	GND

+5 pins can also be connected to power supply too. ESP32 conect to a powerbank

Software

• Arduino IDE
• Libraries:
  • ESPAsyncWebServer
  • AsyncTCP
  • Servo.h
• Python 3.x + OpenCV

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Setup Guide

1. Flash ESP32
   • Upload esparm2.ino or esparm7.ino (can be used for 6dof but lag might be noticed) code using Arduino IDE.
2. Connect to Wi-Fi
   • Update credentials in the code (ssid, password).
3. Run Python Program
   • Start color detection:

     robot_vision_control.py

   -Conect to the required COM port -Even OpenCV code red color tracking.py can be used for wireless conection lag might be noticed
4. Control via Browser -Conect to the SSID and write in the password
   • Open: http://<ESP32 IP from terminal>
   • Move arm.

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Future Improvements

• Integrate camera feed directly into web UI
• Enable gesture-based control using webcam
• Using rasberry pi reduce lag but price increases

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Author

Silent_neuron