# 工程机械臂与底盘

**Repository Path**: ibst/engineering-robotic-arm

## Basic Information

- **Project Name**: 工程机械臂与底盘
- **Description**: 工程机械臂工程+底盘工程SDK，通过双层CAN总线通信，本项目论文已被第38届中国控制与决策会议 (CCDC 2026) 接收
- **Primary Language**: Unknown
- **License**: MIT-0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 3
- **Forks**: 0
- **Created**: 2025-09-27
- **Last Updated**: 2026-04-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: 机械臂, RoboMaster, 麦克纳姆轮, 机器人, stm32

## README

# Engineering Robot Arm Project

## Project Overview

This project is an embedded software implementation of a robot arm control system based on the STM32 microcontroller platform. The code primarily covers core functional modules such as robot arm motion control, sensor interfaces, and motor driving.

## Main Functional Modules

- **Motor Control**
  - Supports motors such as M3508, M2006, and M6020
  - Implements PID control algorithms
  - Supports multiple control modes including speed, position, and torque

- **Mechanical Structure Control**
  - Includes modules such as joints (joint), omnidirectional wheels (omni_wheel), and suction cups (sucker)
  - Implements kinematic calculations and control for the robotic arm

- **Communication Interface**
  - Uses CAN bus for communication
  - Implements interfaces between the chassis and the robotic arm

- **Hardware Abstraction Layer**
  - Includes peripheral drivers such as timers, EXTI, and CAN
  - Provides low-level hardware access interfaces

## Code Structure

```
25_beijing_engineer_arm/
├── App/              # Application layer code
├── Bsp/              # Board Support Package
├── Core/             # Core code
└── Drivers/           # Driver code
```

## Development Environment

- STM32 series microcontrollers
- Utilizes CMSIS core library
- Developed in C language

## Key Features

- Coordinated multi-motor control
- Real-time motion control algorithms
- Comprehensive hardware driver support
- Modular design for easy expansion

## Application Scenarios

This project is suitable for motion control of robotic arms and can be applied in fields such as industrial automation and service robotics.

## Open Source License

This project is released under an open-source license; please refer to the LICENSE file in the repository for details.

## Contribution Guidelines

Contributions are welcome! Please follow these steps:
1. Fork the repository
2. Create a new branch
3. Commit your changes
4. Submit a Pull Request

## Project Maintenance

This project is maintained by the Beijing Engineering Team, with continuous updates and optimizations to the robot arm's control algorithms and feature implementations.