Servo Robotic Arm Controller

Overview

The PCA9685 drives four servos from one I2C address while the joystick reads grip and wrist on its two axes with a button for the claw.

Build Steps

1. 1

   Build the arm

   Assemble the acrylic frame and mount four MG996R servos: base, shoulder, elbow and gripper.

2. 2

   Wire the PCA9685

   SDA, SCL, V+ and ground from the driver; power the servos from the 5 V 5 A supply, never from the board.

3. 3

   Read the joystick

   Map the two analog axes and the push button to the four servo angles with smoothing.

4. 4

   Set safe limits

   Limit each servo's range in software so the arm cannot fold back into itself.