Project Overview

This project demonstrates a voice-controlled robotic arm system that integrates hardware assembly, motion planning, and cloud-based voice control. The system allows remote operation of a robotic arm through Amazon Alexa, enabling automated pick-and-place operations with simple voice commands.

Key Components

• Hardware: xArm 1S robotic arm assembled and modeled using Fusion 360
• Motion Planning: MoveIt framework for trajectory planning and collision avoidance
• Voice Control: Amazon Alexa integration for remote command execution
• Networking: Ngrok for secure tunneling and external accessibility
• Backend Server: Custom action server for processing commands and controlling arm movements

Technical Implementation

CAD Modeling & URDF Conversion

The xArm 1S robotic arm was designed and assembled in Fusion 360. The CAD model was then converted to URDF (Unified Robot Description Format) to enable simulation and motion planning in ROS (Robot Operating System).

Motion Planning with MoveIt

MoveIt was integrated to handle complex motion planning tasks, including inverse kinematics, trajectory generation, and collision detection. This ensures smooth and safe movements during operation.