Robotic Arm Control System

Note

This project is part of the "Embedded Systems" university course.

Project Overview

This project implements a robotic arm control system with multiple components that communicate via MQTT, enabling modular development and operation.

System Components

1. Web Interface (/web)

A browser-based user interface that provides:

• Real-time camera feed display
• Robotic arm control interface

A python backend which serves:

• Raspberry Pi camera or webcam feed

2. Game Controller Interface (/controller)

Enables control of the robotic arm using a game controller:

• Controller input processing
• Command translation
• MQTT message publishing

3. Motor Control System (/motorController)

The embedded system responsible for:

• Command execution
• Position tracking
• Motor movement control

4. Datastore (/datastore)

A little service written in Go which ingests MQTT messages in the database.

5. Mosquitto Broker (/mosquitto)

MQTT broker configuration and setup with Docker:

• Broker settings
• Security configuration
• Network setup