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Adeept 5DoF Robotic Arm – System Architecture - Coggle Diagram
Adeept 5DoF Robotic Arm – System Architecture
Control System
ESP32 Microcontroller
GPIO pins for servo control
I²C interface for OLED
Power Supply
External 5V power for servos
Onboard voltage regulation
USB connection for code upload
Communication Interfaces
UART for serial monitoring
I²C for OLED data transmission
Feedback & Display
OLED Display
Displays angle values
I²C Bus
SDA (pin 27)
SCL (pin 26)
Pull-up resistors integrated
Software Architecture
Arduino IDE
Version 2.3.6 used
Sketches written in C++
Libraries
ESP32Servo.h for servo control
Adafruit_SSD1306.h for OLED
Wire.h for I²C communication
Motion Control Logic
Predefined motion sequences
Delay-based smooth transitions
Robotic Kinematics
Forward Kinematics
Joint angles → end-effector pose
Uses trigonometric calculations
Used for visualization on OLED
Motion Planning
Joint-by-joint rotation
Angle range constraints (0°–180°)
Step-based motion
Actuation Subsystem
Wrist and Gripper
Wrist articulation (Joint 4)
Gripper open/close (Joint 5)
Servo Motors (5x)
Base rotation (Joint 1)
Shoulder lift (Joint 2)
Elbow movement (Joint 3)
PWM Signal Control
ESP32Servo library