This project was completed in Junior Design 2 as part of a team tasked with designing and building a 2-axis SCARA robotic arm based on our own engineering specifications. The system was designed around an ESP32 and stepper motors, using a belt-driven mechanical system to provide coordinated movement of the shoulder and elbow joints.

I developed the embedded motion-control system in MicroPython, implementing forward and inverse kinematics to convert Cartesian coordinates into joint angles. I also implemented coordinated two-axis stepper control and G-code command handling for positioning and movement. The completed system integrated mechanical design, electronics, and embedded software into a functional robotic platform that could execute programmed movements.