# pcrnjak/parol6-desktop-robot-arm

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2,577 stars · 294 forks · HTML · gpl-3.0

## Links

- GitHub: https://github.com/PCrnjak/PAROL6-Desktop-robot-arm
- Homepage: https://source-robotics.com/
- awesome-repositories: https://awesome-repositories.com/repository/pcrnjak-parol6-desktop-robot-arm.md

## Topics

`ai` `lerobot` `parol6` `python` `robotics`

## Description

This project provides a complete set of design files and hardware specifications for a 3D-printable industrial-style robot arm. The system includes a CAN bus robot controller for managing stepper motors and sensors, a kinematics engine for calculating joint angles and poses, and a UDP-based Python API for sending motion commands and monitoring telemetry.

The system features a force-controlled robotic gripper that utilizes field-oriented control on stepper motors to enable compliant grasping and precise force sensing. It also includes a 3D position visualization tool for real-time telemetry tracking and motion simulation to validate trajectories before physical execution.

The software covers robotic motion control through inverse kinematics, trajectory planning with smooth transitions, and coordinate-based movement in both joint and Cartesian space. It incorporates hardware management for limit switches, isolated digital I/O, and an emergency stop system for immediate hardware interrupts.

Fabrication is supported by a provided bill of materials for building the arm using 3D printing.

## Tags

### Hardware & IoT

- [Open-Source Robot Arm Hardware](https://awesome-repositories.com/f/hardware-iot/open-source-robot-arm-hardware.md) — Provides a complete set of 3D-printable design files and bills of materials for building an industrial-style robot arm.
- [Kinematics](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/motion-planning-control/kinematics.md) — Includes a kinematics engine for calculating required joint angles and end-effector poses in joint and Cartesian space.
- [Robotics and Control](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/robotics-drones/robotics-and-control.md) — Manages joint angles, Cartesian coordinates, and velocity profiles to move the arm precisely through physical space.
- [Force-Controlled Gripping](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/robotics-drones/robotics-and-control/force-controlled-gripping.md) — Implements force-controlled gripping using torque and current regulation to grasp objects safely.
- [Python Automation APIs](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/robotics-drones/robotics-and-control/python-automation-apis.md) — Provides a UDP-based Python API for sending motion commands and automating robotic sequences.
- [End Effector Pose Calculation](https://awesome-repositories.com/f/hardware-iot/end-effector-pose-calculation.md) — Calculates the tool's 3D position and orientation based on current joint angles and link parameters. ([source](https://source-robotics.github.io/PAROL-docs/page7/))
- [Joint Position Control](https://awesome-repositories.com/f/hardware-iot/joint-position-control.md) — Implements sensor-based position control to accurately move and maintain the arm's joint locations. ([source](https://source-robotics.github.io/PAROL-docs/page7/))
- [Joint Velocity Control](https://awesome-repositories.com/f/hardware-iot/joint-velocity-control.md) — Controls the velocity of joints and the end effector to maintain a constant operational pace. ([source](https://source-robotics.github.io/PAROL-docs/page7/))
- [Robotic Control APIs](https://awesome-repositories.com/f/hardware-iot/robotic-control-apis.md) — Provides a UDP-based Python API for sending motion commands and monitoring system telemetry.
- [Stepper Motor Controllers](https://awesome-repositories.com/f/hardware-iot/stepper-motor-controllers.md) — Controls multiple joints using dedicated stepper drivers and a global enable signal for precise movement. ([source](https://source-robotics.github.io/PAROL-docs/page3_1/))
- [Force-Sensing Control](https://awesome-repositories.com/f/hardware-iot/stepper-motor-controllers/force-sensing-control.md) — Implements field-oriented control on stepper motors for precise force sensing and compliant grasping. ([source](https://source-robotics.com/))
- [Force-Controlled Grippers](https://awesome-repositories.com/f/hardware-iot/touch-surface-sensing/tactile-grippers/force-controlled-grippers.md) — Implements a gripper system using field-oriented control for compliant grasping and precise force sensing.
- [Kinematics Simulators](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/kinematics-simulators.md) — Includes a 3D position visualization tool to simulate and validate movement trajectories before physical execution.
- [Task-Space Controllers](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/motion-planning-control/task-space-controllers.md) — Enables control of the end effector along axes relative to the robot base or tool reference frame. ([source](https://source-robotics.github.io/PAROL-docs/page4_1/))
- [End-Effector Interfaces](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/robotics-drones/robotics-and-control/end-effector-interfaces.md) — Ships a plug-and-play interface for managing specialized grippers to perform grasping tasks. ([source](https://source-robotics.github.io/PAROL-docs/page5/))
- [Kinematic Calibration](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/robotics-drones/robotics-and-control/kinematic-calibration.md) — Establishes zero-points for joints by mapping encoder ticks via limit switch detection. ([source](https://source-robotics.github.io/PAROL-docs/page3_2/))
- [Emergency Stop Systems](https://awesome-repositories.com/f/hardware-iot/emergency-stop-systems.md) — Includes a safety system that monitors normally closed switches to trigger immediate hardware interrupts. ([source](https://source-robotics.github.io/PAROL-docs/page5/))
- [Kinematic Configurations](https://awesome-repositories.com/f/hardware-iot/firmware-management/3d-printer-firmware/kinematic-configurations.md) — Allows modification of the coordinate table to align software settings with physical hardware changes. ([source](https://source-robotics.github.io/PAROL-docs/page2_2/))
- [Physical Limit Monitoring](https://awesome-repositories.com/f/hardware-iot/hardware-soft-limits/physical-limit-monitoring.md) — Reads signals from limit switches and inductive sensors in real-time to prevent mechanical over-travel. ([source](https://source-robotics.github.io/PAROL-docs/page3_1/))
- [Homing Cycles](https://awesome-repositories.com/f/hardware-iot/homing-cycles.md) — Establishes global coordinate references through automated homing sequences using physical limit switches.
- [Isolated Hardware I/O](https://awesome-repositories.com/f/hardware-iot/isolated-hardware-i-o.md) — Provides electrically decoupled signal paths for interfacing the robot controller with external sensors and actuators. ([source](https://source-robotics.github.io/PAROL-docs/page5/))
- [Robot Sequence Scripting](https://awesome-repositories.com/f/hardware-iot/robot-sequence-scripting.md) — Provides a dedicated scripting language for executing custom motion sequences with joint moves and loops. ([source](https://source-robotics.github.io/PAROL-docs/page4/))
- [Smooth Motion Transitions](https://awesome-repositories.com/f/hardware-iot/smooth-motion-transitions.md) — Waypoint curving that allows the robot to move through points without stopping to reduce mechanical wear. ([source](https://source-robotics.github.io/PAROL-docs/page7/))
- [Field-Oriented Control](https://awesome-repositories.com/f/hardware-iot/stepper-motor-controllers/field-oriented-control.md) — Utilizes field-oriented control on stepper motors to enable precise force sensing and compliant grasping.

### Part of an Awesome List

- [Joint Torque Regulation](https://awesome-repositories.com/f/awesome-lists/ai/physics-based-character-animation/joint-torque-regulation.md) — Regulates actuator torque to enable compliant gripping and force-sensitive assembly. ([source](https://source-robotics.github.io/PAROL-docs/page7/))
- [Inverse Kinematics](https://awesome-repositories.com/f/awesome-lists/devtools/inverse-kinematics.md) — Includes a kinematics engine to calculate joint angles required for specific 3D end-effector coordinates.
- [Motion Planning](https://awesome-repositories.com/f/awesome-lists/devtools/motion-planning.md) — Generates smooth velocity profiles and splines to ensure fluid motion between waypoints.
- [Robotic Coordinate Motion](https://awesome-repositories.com/f/awesome-lists/devtools/animation-and-motion/coordinate-path-motion-engines/robotic-coordinate-motion.md) — Implements motion control using joint-space coordinates and Cartesian poses with configurable velocity profiles. ([source](https://source-robotics.github.io/PAROL-docs/page4/))
- [IK Effector Configurations](https://awesome-repositories.com/f/awesome-lists/devtools/inverse-kinematics/ik-effector-configurations.md) — Provides calibration and control for grippers, specifying target position, speed, and gripping force. ([source](https://source-robotics.github.io/PAROL-docs/page4/))
- [Robotics Simulators](https://awesome-repositories.com/f/awesome-lists/devtools/robotics-simulators.md) — Provides a 3D visualization tool for simulating robot movements and validating trajectories before execution. ([source](https://cdn.jsdelivr.net/gh/pcrnjak/parol6-desktop-robot-arm@main/README.md))
- [Sensor and Actuator Drivers](https://awesome-repositories.com/f/awesome-lists/devtools/sensor-and-actuator-drivers.md) — Manages motion and positioning through specialized controller boards and stepper motor drivers. ([source](https://source-robotics.com//))
- [Robotics Observability](https://awesome-repositories.com/f/awesome-lists/more/robotics-observability.md) — Provides real-time telemetry tracking of joint angles, pose, and overall system status. ([source](https://source-robotics.github.io/PAROL-docs/page4/))

### Networking & Communication

- [Hardware Control APIs](https://awesome-repositories.com/f/networking-communication/hardware-control-apis.md) — Provides a UDP-based Python API to programmatically control robotic motion and monitor system telemetry. ([source](https://source-robotics.github.io/PAROL-docs/page4/))
- [CAN Bus Interfaces](https://awesome-repositories.com/f/networking-communication/message-bus-interfaces/can-bus-interfaces.md) — Implements data exchange and command transmission via dual CAN bus channels for industrial hardware integration. ([source](https://source-robotics.github.io/PAROL-docs/page3_1/))
- [Real-time Telemetry Streams](https://awesome-repositories.com/f/networking-communication/real-time-telemetry-streams.md) — Streams real-time joint angles and system status to a 3D visualization tool for live monitoring.

### Graphics & Multimedia

- [3D Simulation Rendering](https://awesome-repositories.com/f/graphics-multimedia/3d-simulation-rendering.md) — Features a real-time 3D simulator that displays the live position and coordinates of the robot. ([source](https://source-robotics.github.io/PAROL-docs/page4_1/))

### Operating Systems & Systems Programming

- [Client-Server Hardware Architectures](https://awesome-repositories.com/f/operating-systems-systems-programming/client-server-hardware-architectures.md) — Implements a client-server architecture to bridge a high-level Python API with low-level hardware execution via UDP.