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6-axis robot arm built with hacked servos and 3D-printed parts demonstrating smooth inverse kinematic movements.

This is a very long project in the making for me. You could say that it started when I ordered six endless servos in middle school, more than 15 years ago, to build a 6-axis robot arm. When I finally got them and powered them up, disappointment washed over me. They could not hold an angle… This is of course because endless servos lack feedback. I had just spent a good portion of my young self’s hard earned money on the wrong kind of servos… Instead of accepting defeat and buying new servos, I decided to modify the ones I had. After countless different approaches and attempts I finally got the robot I wanted.”

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