Mobile controlled Robotic Arm

I build a mobile-controlled robotic arm using an ESP32, controlled entirely from a web page — no apps, no Bluetooth pairing, just Wi-Fi and a browser.

The ESP32 runs as a Wi-Fi access point and hosts a simple HTTP web server with sliders and buttons to control each joint of the arm in real time. To keep motion smooth and avoid jitter, the servos don’t jump directly to new positions. Instead, the controller uses target vs current angles with rate-limited motion, similar to how real robot controllers work.

The project uses four servo motors:

• Left–right rotation
• Forward–backward motion
• Up–down motion
• Gripper open/close

All servos are driven directly from the ESP32 using hardware PWM, without a PCA9685 board, and powered separately to avoid brownout issues. For portable power, the setup can run from a 2-cell (2S) Li-ion / 18650 battery pack with proper regulation.

Features:

• Web-based control (works on any phone)
• Smooth, jitter-free servo motion
• Reset and homing function
• Clean power design for servos and ESP32
• No external PWM driver board

3D files: https://www.printables.com/model/1596575-robotic-arm-with-a-base-for-components