6DOF Robotic Arm with Inverse Kinematics
6DOF Robotic Arm with Inverse Kinematics on Arduino Mega – Program Joint Angles from XYZ Targets
Every part needed, pre-tested for compatibility, with an AI build companion trained on this exact project. Shipped from Bengaluru in 3-5 days.
With this kit, you'll assemble a six-servo robotic arm that moves gracefully to any XYZ coordinate you input. A serial inverse kinematics algorithm on the Arduino Mega calculates precise joint angles in real-time, letting you explore advanced robotics control. Type target coordinates on the keypad, watch the OLED update, and see the arm trace smooth paths – all built and programmed by you.
What You'll Build
By the end, you'll have a desktop robotic arm that responds to keypad entries – type X, Y, Z values and watch it plot smooth trajectories. The OLED displays target coordinates and live joint angles, making it a tangible IK visualization tool. You can extend it later with gripper control, PC-based serial interaction, or repeatable pick-and-place sequences.
What You'll Learn
- Solving inverse kinematics for a 6-degree-of-freedom chain using a serial (geometric/analytic) approach.
- Interfacing six high-torque MG996R servos via I2C PCA9685 for simultaneous, precise motion.
- Parsing coordinate inputs from a 4x4 keypad and displaying feedback on an OLED.
- Managing power delivery and decoupling for multiple servos under load.
Kit Contents
| Component | Quantity |
|---|---|
| Arduino Mega 2560 | 1 |
| MG996R Servo | 6 |
| PCA9685 16-ch Servo Driver | 1 |
| 0.96in OLED | 1 |
| 4x4 Keypad | 1 |
| 5V 5A Power Supply | 1 |
| 10kΩ Resistors | 5 |
| 100nF Caps | 10 |
| 1000µF 25V Caps | 3 |
| PCB Prototype Board | 3 |
| Aluminium Servo Bracket Set | 1 |
| M3 Bolts+Nuts | 40 |
| Soldering Iron | 1 |
| Solder Wire | 1 |
Why Buy This Kit Instead of Sourcing Parts Separately
| Factor | Sourcing Separately | Compoden Kit |
|---|---|---|
| Compatibility checks | You verify every part | Pre-tested as a system |
| Build support | Forums and scattered tutorials | AI companion trained on this exact project |
| Time to first working build | Days of debugging | Hours, with step-by-step guidance |
| Shipping coordination | Multiple sellers, multiple delays | One shipment from Bengaluru in 3-5 days |
Who This Kit Is For
B.Tech students in ECE, EEE, or Mechanical engineering who want to master kinematics and embedded control will find this an ideal project for final-year or capstone submission. Smart India Hackathon teams can use it as a ready-to-extend platform for warehouse automation or assistive robotics. If you're at an IIT, NIT, VIT, or BITS and need a reliable 6DOF setup without hunting down individual components, this kit delivers a cohesive learning experience.
Built and Backed by Compoden
Every Compoden kit ships with an AI build companion trained on this exact project — accessible via a QR code on the box, with WhatsApp and email backup. We've spent 10 years building projects for makers, schools, and institutions across India. If a part fails because of a manufacturing defect, replace it free within 7 days.
What if I get stuck during the build?
The AI companion walks you through every connection and calibration step, and you can message us on WhatsApp for direct assistance if anything is unclear.
Does this kit include the code for the inverse kinematics solver?
Yes, the complete, commented Arduino sketch is pre-loaded and ready to flash. It runs a serial IK algorithm that converts XYZ coordinates into six joint angles for the MG996R servos, and you can adjust limb lengths or step sizes as you learn.
Can I control the arm from a PC instead of the keypad?
Absolutely. The code is structured so you can easily inject coordinates via the serial monitor or a Python script. This opens the door to computer-vision-guided picking or trajectory planning exercises.
Are the MG996R servos strong enough for a payload?
The MG996R delivers around 10 kg-cm of torque at 6V. The arm can lift small objects like a 50 g eraser or a sensor module; it’s designed for precision and repeatability, not heavy lifting. If you need higher payloads, the kinematics framework remains valid for stronger servos you may swap in later.
Six MG996R servos form a full 6DOF arm. Serial IK solver computes joint angles from XYZ target input.
What's in this kit
Choose your assembly option:
- Soldering Kit — 25W soldering iron, 60/40 solder wire, flux, and small perfboard for permanent assembly.
- Breadboard Combo — 800-point full-size breadboard with 65-piece jumper wire pack for solderless prototyping.
Shipping Information
- Prepaid Orders: ₹75 for orders up to ₹999, FREE shipping above ₹999
- COD Orders: ₹125 shipping + ₹50 COD fee = ₹175 total
- Delivery Timeline: Dispatch in 1-2 days, delivery in 2-7 days depending on location
Returns & Warranty
- 7-Day Return: Manufacturing defects only (approval required)
- Warranty: 7 days from delivery
- Non-Returnable: Batteries, consumables, cut wires, clearance items