Prototype System for Control the ScorBot ER-4U Robotic Arm Using Free Tools

The acquisition of controllers offered by manufacturers represents a high cost for the user and presents limitations for development. Therefore, in this work we propose the development of an electronic controller for the ScorBot ER_4U robotic arm operation. The programs are elaborated in C language, in the ESP-IDF development environment, which allows the manipulation and control of the arm. The development of this research directly benefits the research field. In this way, an open license software is delivered for the modification of codes and circuits that support the evolution of robotics knowledge. The tests carried out validate this proposal, both in operation and in the response times obtained. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.