BSP Advances in Science, Engineering and Technology (BSPASET)

Vol. 2 No. 1 (2025): June Articles
Original Research Articles

Design and Implementation of a Low-Cost 3-DOF Robotic Arm Using ATmega328 and Inverse Kinematics for Wireless Control

PDF
  • J. A Kpelai,
  • A. E Agbese,
  • M Gbaakpen,
  • C Mbakaan
J. A Kpelai
Department of Electrical/Electronics and Computer Engineering Technology Benue State Polytechnic Ugbokolo, Benue State, Nigeria
A. E Agbese
Department of Electrical/Electronics and Computer Engineering Technology Benue State Polytechnic Ugbokolo, Benue State, Nigeria
M Gbaakpen
Department of Electrical/Electronics and Computer Engineering Technology Benue State Polytechnic Ugbokolo, Benue State, Nigeria
C Mbakaan
Department of Science Laboratory Technology, Physics with Electronics Section, Benue State Polytechnic, Ugbokolo

Published 2025-07-27

Keywords

  • 3-DOF Robotic Arm,
  • ATmega328 Microcontroller,
  • Inverse kinematics,
  • Embedded Systems,
  • Bluetooth control,
  • Arduino
    • ...More
    Less

How to Cite

Design and Implementation of a Low-Cost 3-DOF Robotic Arm Using ATmega328 and Inverse Kinematics for Wireless Control. (2025). BSP Advances in Science, Engineering and Technology (BSPASET), 2(1). https://iahiservices.com/journal/index.php/BSP-ASET/article/view/102

Abstract

This study presents the design and implementation of a low-cost, three degrees of freedom (3-DOF) robotic arm using an ATmega328 microcontroller, servo motors, and Bluetooth-enabled wireless control via a custom Android application. The system integrates mechanical modeling, embedded programming, and inverse kinematics to enable real-time object manipulation tasks. Experimental tests and simulations were conducted to validate performance under five pick-and-place scenarios. The robotic arm demonstrated average end-effector positional accuracy within ±2 cm and joint angle deviation of less than 3°, with wireless command latency below 100 ms. These results confirm the system's reliability for educational and prototyping use. The use of open-source hardware and software platforms ensures scalability, ease of replication, and accessibility for robotics education, embedded systems training, and early-stage industrial automation.

 

PDF