Micro Robot Arm with ESP32 & MG90S

This project presents a 5-DOF robot arm developed from scratch, together with a web-based control interface designed to operate it. The interface runs from a single HTML file and requires no additional software installation. Assembly & Test Video:   Robot Arm  • 5-DOF  • ESP32 microcontroller running custom firmware  • Communication via USB serial or Wi-Fi (WebSocket) Control Interface  • Real-time 3D visualization that mirrors the arm’s movement  • Direct joint control, as well as end-point control through forward and inverse kinematics  • Jog panel, inspired by Klipper/Mainsail, for directional end-point movement  • Import of custom STL parts, with assignment to joints and individual hide/delete options  • Pose recording and reordering, per-step duration settings, and program export/import  • Fully customizable keyboard shortcuts, including per-joint keys, Home, and Emergency Stop  • Mobile and touchscreen support • Project backup (export/import) and customizable interface themes Required Files: https://drive.google.com/file/d/1VNj0mdC4_HoTYbe_FGJ5kCR1J_W0uxR0/view?usp=sharing  Circuit Schematic: https://app.cirkitdesigner.com/project/b666176c-4019-4d2a-8222-8b6857c6c086   Required Parts:  • 1 X ESP32-C6-DEV-KIT-NX  • 1 X PCA9685 PWM Servo Motor Driver  • 6 X MG90S 180 Degree Servo Motor  • 2 X 30cm Servo Extender Cable  • 1 X Panel Mount 2.1mm Barel Jack  • 1 X KCD11 Round Rocker Switch  • 5V 5A Power Supply  • Jumper Cables  • M3x6mm & M3x8mm Screws