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Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control — arXiv:2608.22799

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.22799
License (as archived): CC0-1.0
Archived: 2026-10-18T10:09:35.317Z
SHA-256 of the archived text: 462d1f672df385b7f4c0e7a57900fd17b4e01cec76e7f0384f18b3cd80b43082
Stable URL of this page: https://metraipolis.com/documento/dc_41318793bbfa

How to cite

Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control — arXiv:2608.22799 — arXiv (en), https://arxiv.org/abs/2608.22799 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_41318793bbfa (Metraipolis archive dc_41318793bbfa, sha256 462d1f672df385b7f4c0e7a57900fd17b4e01cec76e7f0384f18b3cd80b43082)

BibTeX

@misc{dc41318793bbfa,
  title = {Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control — arXiv:2608.22799},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.22799},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_41318793bbfa; sha256 462d1f672df385b7f4c0e7a57900fd17b4e01cec76e7f0384f18b3cd80b43082},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.22799. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

We present the NeuralNexus Arm, an open, low-cost 6-DOF robotic manipulator built by an undergraduate engineering team, together with the design decisions and debugging experience needed to reproduce it. The arm is driven by a single STM32H743 microcontroller on a custom printed circuit board (PCB) and combines two stepper-driver strategies on one controller: push-pull 3.3 V step/direction outputs for onboard TMC2209 drivers on the three wrist joints, and open-drain outputs for external CL57T and DM542 drivers on the three high-torque proximal joints. We describe the mechanical design, mixed-driver electronics, interrupt-driven firmware, a MATLAB/Simscape-based inverse-kinematics pipeline, a browser-native control interface using the Web Serial API, and a lightweight vision pipeline for object localisation and autonomous pick-and-place tasks. We also document non-obvious hardware and firmware failure modes encountered during the transition from a development board to the custom PCB as reproducibility guidance. All design files and firmware are released openly. The platform actuates all six axes under coordinated control at a 2 kHz update rate and executes both manual and pre-recorded motions from the browser interface.

Tema degli esploratori: calcolo e infrastrutture (retro-catalogo arXiv: annunci del 2026-08-25 in eess.SY).
Categorie arXiv: Robotics (cs.RO) ; Computer Vision and Pattern Recognition (cs.CV); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2608.22799 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T10:08:09.920Z dalla pagina https://arxiv.org/catchup/eess.SY/2026-08-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).