# Robotic Arm Control Project (Completed) 6-Joint Robotic Arm Control Using 3 Joysticks

This project was produced based on robot arm projects 1, 2, 3, and 4 posted in the guide. Materials: Arduino, joystick, 6 servo motors, battery, robot arm frame Description: Three joysticks are used to operate 6 servo motors. The speed of each servo motor can also be adjusted according to each joystick input. Circuit connection is as follows. For the robot arm frame to support its weight, servo motors with operating voltage of 6~7.2V were used. Therefore, a separate power supply was required, and additional power was supplied using a power supply. It can operate with just a battery capable of supplying power, not necessarily a power supply. Additionally, since the joystick does not use digital input, the SEL digital input/output pin was not connected. The joystick connection is as follows. For joystick 1 (left): X-axis → A0 (analog input pin) Y-axis → A1 (analog input pin) For joystick 2 (center): X-axis → A2 (analog input pin) Y-axis → A3 (analog input pin) For joystick 3 (right): X-axis → A4 (analog input pin) Y-axis → A5 (analog input pin) Since the servo motors use PWM method, the input/output pins are connected as 3, 5, 6, 9, 10, 11 from top to bottom. The code is as follows. When coding, it is advantageous for robot arm control to test each servo motor individually and calculate the speed values obtained through experimentation to input them. Therefore, when reading and practicing this project, it is recommended to conduct multiple experiments and assign optimal speed values for each motor. The operation video is as follows. Each joystick is responsible for operating 2 servo motors. Therefore, 6 servo motors are controlled with 3 joysticks. A robot arm using 6 joints rather than 5 joints is more advantageous for gripping objects in more diverse situations. Through this project, it was possible to experience overall understanding of sensors, circuit connection, coding, and mechanical elements such as servo motor bias depending on the robot arm's weight. Unlike just viewing, I hope you will challenge yourselves by solving unexpected problems that arise while directly manufacturing the robot arm.