Real-time Gesture Mimicking Robotic Arm
Keywords:
ESP8266/ESP32, Gesture mimicking, Pick-and-place, Power supply, Robotic arm, Servo motorsAbstract
Robotic arms play a crucial role in modern automation by performing repetitive tasks with high accuracy and reliability. This work presents the design and development of a real-time gesture mimicking robotic arm using an ESP32 microcontroller. The system operates on a master-slave mechanism in which the motion provided through a control unit is reproduced by the robotic arm in real time, allowing intuitive and easy operation. User input is provided through potentiometers that generate varying analog signals corresponding to different joint movements. These signals are read and processed by the ESP32, which maps them into suitable control commands for the servo motors. A servo driver module is used to generate precise PWM signals, enabling coordinated and smooth movement of the robotic arm joints, such as base, shoulder, elbow, wrist, and gripper. This setup allows the system to perform pick-and-place tasks efficiently. The mechanical structure of the robotic arm is designed using Fusion 360 and fabricated using 3D printing, ensuring accurate dimensions and lightweight construction. The system demonstrates stable and responsive performance with minimal delay. Due to its low cost, simple design, and ease of use, it is suitable for both educational purposes and basic industrial automation. Future improvements can include wireless control, sensor-based feedback, and intelligent decision-making features to enhance overall functionality.
References
A. Sabah, H. A. Marzog, and L. A. Abdul-Rahaim, “Design and implement of robotic arm and control of moving via IoT with Arduino ESP32,” International Journal of Electrical and Computer Engineering, vol. 11, no. 5, p. 2924, Oct. 2021.
T. Goswami, D. Sharma, Rahul Pratyush, and A. Kumar, “Gesture Controlled Robotic Arm,” International Journal of Engineering Research & Technology, vol. 8, no. 10, Jul. 2020
K. Chenchireddy, R. Dora, G. B. Mulla, V. Jegathesan, and S. A. Sydu, “Development of robotic arm control using Arduino controller,” IAES International Journal of Robotics and Automation (IJRA), vol. 13, no. 3, pp. 264–271, Sep. 2024.
V. M., S. T., Y. E., and Naveen, “Design and Fabrication of Robotic Arm: A Project Report,” Bachelor of Engineering Project Report. Anna University, Chennai. Apr. 2025.
S. K. Anumula, S. Prasad Sanaboina, R. K. Nagula, and R. Nagaraju, “Design and control of a robotic arm for industrial applications,” International Journal of Engineering Science and Advanced Technology (IJESAT), vol. 25, no. 09, pp. 509–516, 2020.
X. Wang, H. Shen, H. Yu, J. Guo, and X. Wei, “Hand and arm gesture-based human-robot interaction: A review,” ACM Computing Surveys, 2022.
“Servo Control,” Wikipedia: The Free Encyclopedia.
A. Varghese, D. A. Bennet, S. Ismail, and F. Felix, “Fabrication of Gesture Controlled Robotic Arm,” International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET), vol. 10, no. 1, Aug. 2021.
K. Sekar, R. Thileeban, V. Rajkumar, and S. S. B. Sembian, “Hand gesture-controlled robot,” International Journal of Engineering Research & Technology (IJERT), vol. 9, no. 11, Nov. 2020.
L. Vagdevi and E. Harshitha, “Development of robotic arm using Arduino,” International Journal of Scientific Research & Engineering Trends (IJSRET), vol. 11, no. 1, Jan.-Feb. 2025.
M. Yousefi, “Arduino Controlled Pick ‘n’ Place Robotic Arm,” University of Akron, Mar. 2021.
Espressif Systems, ESP32 Technical Reference Manual, Espressif Systems, 2022.
NXP Semiconductors, PCA9685 16-Channel, 12-bit PWM Fm+ I²C-bus LED Controller – Product Data Sheet, Rev. 4, Apr. 2015.
Espressif Systems, “Technical Documents,” Espressif Documentation Portal, 2022.
A. Rubyat, S. M. T. Tuhin, S. Al Razi, S. Banik, M. R. Uddin, and M. Hasan, “Bluetooth controlled Arduino-based robotic arm for object pick and place,” Proceedings of the 7th International Conference on Inventive Material Science and Applications (ICIMA-2025), IEEE, 2025.
