Implementation of 5-DOF Robot Arm Control with Inverse Kinematics Through Interactive GUI

Authors

  • Ryan Satria Wijaya Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Muhamad Ilham Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Eko Rudiawan Jamzuri Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Anugerah Wibisana Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Rifky Afriza Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Emelia Rosari Siregar Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
  • Senanjung Prayoga Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia

DOI:

https://doi.org/10.30871/jaee.v10i1.12658

Keywords:

5-DOF Robot Arm, Educational Robotics, ESP32, Geometric Inverse Kinematics, Interactive GUI, Position Control

Abstract

This work presents a control system for a five-joint (5-DOF) robotic arm designed for educational use, combining geometric inverse kinematics with a custom Python graphical interface. Instead of relying on iterative approaches, a closed-form inverse kinematics formulation is implemented to directly derive joint configurations from Cartesian coordinates. System functionality is supported through communication between a host computer and an ESP32 microcontroller via UART serial interface, enabling real-time control, workspace verification, and kinematic validation using forward kinematics. For simplicity in operation, the wrist orientation is kept fixed so that the control system focuses primarily on positional accuracy. experimental results show an average IK computation time of 1,7 ms, a mean positioning error of 2,46 mm, and a peak deviation of 4,91 mm across representative workspace targets. The obtained results confirm that the system achieves stable and reliable performance suitable for low-cost laboratory experimentation and educational robotics applications.

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References

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Published

2026-06-29

How to Cite

Wijaya, R. S., Ilham, M., Jamzuri, E. R., Wibisana, A., Afriza, R., Siregar, E. R., & Prayoga, S. (2026). Implementation of 5-DOF Robot Arm Control with Inverse Kinematics Through Interactive GUI. Journal of Applied Electrical Engineering, 10(1), 48–55. https://doi.org/10.30871/jaee.v10i1.12658

Issue

Vol. 10 No. 1 (2026): JAEE, June 2026

Section

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