6-DOF CyberDeck & 5-DOF Teach-Repeat Robotic Arm
Industrial-grade 6-DOF & 5-DOF robotic manipulation systems featuring OpenCV AI vision hand tracking, Flask-SocketIO web control, and teach-repeat trajectory playback.
6-DOF CyberDeck robotic manipulator assembly
Overview
Our robotic arm platform integrates two advanced control architectures: a 6-DOF OpenCV MediaPipe hand gesture tracking controller communicating via Flask-SocketIO to a PCA9685 I2C PWM driver, and a 5-DOF Teach & Repeat system. The software incorporates cubic Hermite polynomial (Smoothstep) trajectory interpolation and Exponential Moving Average (EMA) noise filtering to deliver fluid, jerk-free mechanical arm movement.
Highlights
- Real-time OpenCV + MediaPipe 6-DOF hand tracking controller
- Flask-SocketIO web dashboard with interactive joint matrix sliders
- PCA9685 16-channel 12-bit PWM I2C servo driver abstraction
- Teach & Repeat RAM waypoint recording with Smoothstep Hermite interpolation
The Challenge
Fitting 100 5-DOF spatial waypoints into the constrained 2KB SRAM of the ATmega328P was solved by optimizing joint structures into compact uint8_t byte arrays.
The Outcome
Delivered a fluid, multi-modal robotic manipulator capable of vision-controlled sorting and automated pick-and-place playback.
Project Media & Build Gallery
[7 PHOTOS]6-DOF CyberDeck robotic manipulator assembly
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