4-DOF Robotic Arm Control

Introduction

A 4-DOF (Degrees of Freedom) robotic arm typically consists of Base, Shoulder, Elbow, and Gripper movements. Each joint is powered by a servo motor.

Wiring

• Base Servo: Pin 9
• Shoulder Servo: Pin 10
• Elbow Servo: Pin 11
• Gripper Servo: Pin 6

The Code (Sequential Movements)

#include <Servo.h>

Servo base, shoulder, elbow, gripper;

void setup() {
  base.attach(9);
  shoulder.attach(10);
  elbow.attach(11);
  gripper.attach(6);
  
  // Initial position
  homePos();
}

void homePos() {
  base.write(90);
  shoulder.write(90);
  elbow.write(90);
  gripper.write(0);
}

void loop() {
  // Pick up object
  gripper.write(45); // Open
  delay(1000);
  // Add movement logic here...
}