RoArm-M3-AI-Kit
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Overview
Introduction
The RoArm-M3-AI-Kit series fully supports the popular AI robotic arm open-source project LeRobot, featuring pre-trained models and teaching datasets to provide robust support for the development of embodied intelligence algorithms such as imitation learning and reinforcement learning. Developers can directly call upon LeRobot's rich library of examples and algorithms to efficiently deploy to the RoArm-M3 robotic arm, significantly accelerating the development and implementation of innovative applications.
Among them, the RoArm-M3 series is a 5 + 1 DOF intelligent robotic arm designed for innovative applications. It features a lightweight structure with a payload of [email protected] and can be flexibly installed on various mobile platforms.
Adopts a 360°omnidirectional base combined with three flexible joints to create an workspace with a 1-meter diameter.
The joint direct-drive design enhances repositioning precision and also improves structural reliability, with innovative dual-drive technology doubles the shoulder joint torque.
Onboard ESP32 MCU main control module supports multiple wireless control modes, provides control interfaces and rich communication protocols for easily connecting to various devices.
Features
- Compatibility with Open Source Ecosystem: Supports the LeRobot mainstream AI robotic arm open-source project, providing a complete example code library for quick deployment to the RoArm-M3 robotic arm, saving development time.
- Abundant Learning Resources: Offers comprehensive open-source learning resources to help users get started quickly and develop robotic applications, facilitating rapid entry into imitative and reinforcement learning.
- Omnidirectional workspace: The 360° all-round rotating base with flexible joint movement creates a working space with a diameter of up to 1m to achieve all-round freedom of movement.
- Usability: Provides cross platform Web applications and coordinate control modes, reducing the difficulty of use and enabling users to easily operate robotic arms.
- Open source code: Open source the control code and communication interface documentation of RoArm-M3 robotic arm series, which is convenient for users to carry out secondary development.
- Joint direct-drive design: Using 12-bit high-precision magnetic encoder to obtain the joint angle makes the repositioning accuracy up to 0.088°, which improves the structure reliability.
- Dual-drive technology: Innovative dual-drive technology enhances the torque of the shoulder joint of the robotic arm and improves the overall loading capacity of the arm.
- Powerful master control module: Adopts ESP32 master control MCU, which supports multiple control interfaces and wireless communication protocols.
Appearance
The following are annotations of various parts and commonly used interfaces of the robotic arm:
Onboard Interfaces on General Driver Board for Robots
| No. | Resource Name | Description |
| 1 | ESP32-WROOM-32 main control module | Can be developed using Arduino IDE |
| 2 | IPEX Gen 1 WIFI interface | Used for connecting the antenna with IPEX1 outer screw inner hole |
| 3 | Lidar Interface | Integrated the radar adapter board functionality |
| 4 | IIC peripheral expansion interface | Can be used to connect OLED screens or other IIC sensors |
| 5 | Reset button | Press and release to reboot the ESP32 |
| 6 | Download button (BOOT) | When pressed, it boots the ESP32 into download mode |
| 7 | DC-DC 5V Regulator circuit | Can power a host device such as a Raspberry Pi or Jetson nano, etc. |
| 8 | Type-C port (LADAR) | LiDAR data interface |
| 9 | Type-C port (USB) | ESP32 serial communication interface, which can upload programs for ESP32 |
| 10 | XH2.54 Power connector | Inputs DC7~12.6V, can directly power the serial bus servos and motors |
| 11 | INA219 | Voltage/current monitoring chip |
| 12 | Power switch | Control external power supply ON/OFF (ON position in the figure above) |
| 13 | ST3215 Bus Servo Interface | Used to connect ST3215 serial bus servo |
| 14 | Motor interface PH2.0 6P | Group B interface for motor with encoder |
| 15 | Motor interface PH2.0 6P | Group A interface for motor with encoder |
| 16 | Motor interface PH2.0 2P | Group A interface for motor without encoder (LED lamp interface in this product) |
| 17 | Motor interface PH2.0 2P | Group B interface for motor without encoder |
| 18 | AK09918C | 3-axis electronic compass |
| 19 | QMI8658 | 6-axis motion sensor |
| 20 | TB6612FNG | Motor control chip |
| 21 | Serial bus servo control circuit | Connect multiple ST3215 bus servos and get servo feedback |
| 22 | TF card slot | Can be used to store logs or WIFI configurations |
| 23 | 40PIN expansion interface | Easy access to Raspberry Pi 4B, Raspberry Pi Zero or Jetson Orin Nano |
| 24 | 40PIN expansion interface | Convenient for using the pins on the host computer installed on the driver board |
| 25 | CP2102 chip | Serial port to USB, used for radar data transmission |
| 26 | CP2102 chip | Serial to USB, used for ESP32 serial communication |
| 27 | Automatic download circuit | Does not require pressing the EN and BOOT buttons when uploading code to ESP32F |
Product Use
Precautions
Please read the following before use:
- This product is already assembled at the factory, but due to the large number of servos used, it is not recommended to disassemble the product.
- The operating voltage range of this product is 7-12.6V. It is recommended to use the standard 12V 5A power supply or 3S lithium battery for power supply. It is strictly prohibited to use power supplies that exceed the operating voltage range of the product.
- The servo used in this product has a relatively high torque, which may pose potential risks. Therefore, it is advisable to avoid having sensitive areas such as eyes or head within the range of the servo's movement when using it.
- Keep away from children when using this product to avoid injury; And the product cannot be subjected to severe impacts.
- For safety reasons, the default demo's robotic arm runs at a relatively slow speed. You can refer to the following tutorial to change this speed, but a too low speed may cause the robotic arm to shake when running to certain specific positions.
Start Working
Please read the Appearance section first to understand the structure of the robotic arm and various common interfaces.
- Connect the configured 12V 5A power cable to the power interface on the robotic arm, turn on the power switch, and the device will start up with all joints automatically moving to the middle position.
- The meaning of the content displayed on the OLED screen after power on is as follows:
- The first line indicates that the WiFi is in AP mode at this time, and the WiFi hotspot is named RoArm-M3;
- The second line indicates that STA mode is turned off. When WiFi is in STA mode, the router will assign an IP address and display it;
- The content of the third line is the MAC address of this device, which is unique and used for ESP-NOW communication.
Functions
LeRobot Tutorial Catalog
- 1. Install Environment
- 2. Configure Parameters
- 3. Remote Control Operation
- 4. Record Dataset
- 5. Visualize Dataset
- 6. Replay Dataset
- 7. Training
- 8. Assessment
Resources
RoArm-M3 Related Program
RoArm-M3 Drawings
Serial Driver
FAQ
Answer: The huggingface official is currently still making irregular updates to the LeRobot library, and there may be some unforeseen issues, such as different dataset versions and commands. For git clone, please use the GitHub repository recommended in this document: https://github.com/waveshareteam/lerobot. This is a proven stable version for the RoArm-M3 series robotic arms.
Support
Technical Support
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