This repository contains code and resources for the Final Year Project on developing a vision-guided, feedback-enabled robotic hand end-effector for adaptive grasping tasks.
The project focuses on integrating embedded microcontrollers, sensors, and control logic to enable precise and adaptive manipulation of objects.
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ESP32 Tests
Contains code for testing and verifying ESP32 functionalities, including sensor interfacing, communication protocols, and actuator control. -
STM32 Black Pill (WeAct V3.0 STM32F401CEU6)
Contains firmware for the STM32 microcontroller handling low-level control, sensor readings, and communication with the main control system.
| Component | Description |
|---|---|
| STM32F401CEU6 | WeAct Black Pill V3.0 microcontroller board |
| ESP32 | Microcontroller for high-level logic and testing |
| Robotic Hand End-Effector | Custom-designed hand with actuators and sensors |
| Sensors | Includes force, touch, or other feedback sensors for adaptive grasping |
| Camera / Vision Module | For vision-guided object detection and grasp planning |
- Clone the repository to your local machine:
git clone [email protected]:DasDNS/Robotic_End_Effector_FYP.git
cd Robotic_End_Effector_FYP-
Open the relevant folder in PlatformIO or your preferred IDE.
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Select the target microcontroller:
- STM32: WeAct Black Pill V3.0 (STM32F401CEU6)
- ESP32: ESP32 Dev Module
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Upload the corresponding firmware to the board.
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Monitor serial output using PlatformIO Serial Monitor or VS Code Serial Monitor.
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Run the ESP32 tests to validate sensors and communication.
The robotic hand end-effector system is designed to:
- Perform adaptive grasping using real-time feedback from sensors.
- Utilize vision guidance to detect object shapes, size, and orientation.
- Integrate ESP32 and STM32 microcontrollers for distributed control.
- Provide a framework for testing different grasp strategies and analyzing sensor data.
| Parameter | Description |
|---|---|
| Project | Vision-Guided, Feedback-Enabled Robotic Hand End-Effector |
| Microcontrollers | STM32F401CEU6 (Black Pill), ESP32 |
| IDE / Platform | PlatformIO (VS Code) |
| Purpose | Adaptive grasping, sensor feedback, vision guidance |
| Contents | ESP32 tests, STM32 firmware, sensor interfacing, actuator control |
✨ This repository serves as the software foundation for the FYP robotic hand end-effector system, enabling vision-guided and feedback-driven adaptive grasping tasks.