A PROJECT REPORT

ON

4 DOF ROBOTIC ARM

SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR THE DEGREE

OF

BACHELOR OF TECHNOLOGY

IN

ELECTRONICS AND COMMUNICATION ENGINEERING

By
Dewang Verma (2300128)

Manisha Bisht (2300137)

Megha Pandey (2300140)

Under the guidance of

Dr. Sandeep Kumar

DEPARTMENT OF ELECTRONICS & COMMUNICATION

ENGINEERING
G B PANT INSTITUTE OF ENGINEERING AND TECHNOLOGY
PAURI, UTTRAKHAND, INDIA
November-2025
 DECLARATION
We hereby declare that the project entitled “4 DOF Robotic Arm”
submitted to the Department of Electronics & Communication
Engineering, G. B. Pant Institute of Engineering and Technology, Pauri,
Uttarakhand for the award of Bachelor of Technology degree in
Electronics and Communication Engineering is a bonafide work carried
out by us under the guidance of Dr. Sandeep Kumar and that it has not
been submitted anywhere for any other award of degree or diploma.
Where other sources of information have been used, they have been
acknowledged.

Date: November, 2025 Students Name (Roll Number)

Dewang Verma (2300128)
Place: GBPIET, Pauri Manisha Bisht (2300137)
Garhwal Megha Pandey (2300140)

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 CERTIFICATE
This is to certify that the project entitled as “4 DOF Robotic Arm”
which is being submitted by Dewang Verma, Manisha Bisht and
Megha Pandey, in partial fulfillment of the requirements for the award
of Bachelor of Technology degree in Electronics and Communication
Engineering to the Department of Electronics and Communication
Engineering, G. B. Pant Institute of Engineering and Technology, Pauri
Garhwal, Uttarakhand is a bonafide work carried out by them under my
guidance and supervision.
To the best of my knowledge, the matter embodied in the project has
not been submitted for the award of any other degree or diploma.

Date: November, 2025 Guide’s Name:

Dr. Sandeep Kumar
Place: GBPIET, Pauri Garhwal

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 ACKNOWLEDGEMENT
It is our proud privilege and duty to acknowledge the kind of help and
guidance received from several people in preparation of this project. It
would not have been possible for us without their valuable help,
cooperation and guidance.

First and foremost, we wish to record our sincere gratitude to our

mentor Dr. Sandeep Kumar and to the Head of the Department
Dr. M.K. Agarwal for his constant support and encouragement in
preparation of this report and for making available library and
laboratory facilities needed to prepare this report.

Secondly, we would like to thank our parents who patiently helped us

as we went through our work and helped to modify and eliminate some
of the irrelevant or unnecessary stuffs. We would also like to thank our
friends who helped us to make our work more organized and well-
stacked till the end.

At last, we would like to thank God for his grace upon us.

Date: November, 2025 Student Names:

Dewang Verma
Place: GBPIET, Pauri Manisha Bisht
Garhwal Megha Pandey

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 ABSTRACT

This report unfolds the design and realization of a four-degree-of-

freedom robotic arm, built upon the simplicity and versatility of an
Arduino microcontroller and guided through the intuitive touch of a
joystick interface. The system is crafted to perform pick-and-place
operations, where every movement demands a delicate balance of
reach, strength, and precision. Each joint of the arm contributes its own
freedom of motion, allowing the structure to bend, lift, rotate, and
position objects within its workspace with purposeful fluidity.
The project explores the mechanical design of the links, the selection
and calibration of servo motors, and the control logic that translates
human intention into coordinated mechanical gestures. Detailed
attention is given to the mapping of joystick axes to joint angles,
ensuring that human input flows naturally into controlled robotic
motion. The integration of hardware and software is presented as a
layered process—assembling the arm, stabilizing its structure, coding
the control system, and refining the response of each degree of
freedom.
Experimental trials reveal the arm’s ability to grasp, carry, and place
objects with consistent reliability. Tests highlight its responsiveness to
joystick commands, its accuracy in reaching target positions, and its
stability under repeated cycles of operation. Beyond demonstrating
functionality, the project reflects how accessible components can be
woven together to form a compact robotic system capable of mimicking
human-like manipulation.
Overall, this report captures the complete journey of the robotic arm—
from concept, through construction and control, to performance
assessment—showing how thoughtful design and intuitive interaction
can bring a small machine to life, moving with quiet strength and
deliberate grace.

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 CONTENTS
Declaration…….………...………………………………………….............i
Certificate...………...…………………………………………………….….ii
Acknowledgement…………………………………………………............iii
Abstract ………………………………...…………………………………...iv

CHAPTER 1: INTRODUCTION…………………………………….1
1.1 Understanding Robotic Arm……………………………………...1
1.2 Overview of Robotic Arm…………………………………….….2

CHAPTER 2: OBJECTIVES OF ROBOTIC ARM………………….3

2.1 Objectives………………………………………………………...3

CHAPTER 3: CONSTRUCTION OF ROBOTIC ARM…………….4

3.1 Understanding Degree of Freedom……………………………….4
3.2 Kit Description……………………………………………………6
3.3 System Components Overview…………………………………...7
3.4 Robotic Arm Connection………………………………………..12

CHAPTER 4: WORING PRINCIPLE...……………………………14

4.1 How joystick control servo……………….………………….….14
4.2 Signal Flow…………...…………………………………………14
4.3 PWM ……………………………………………………………15
4.4 Algorithm for Robotic Arm……………………………………..15

CHAPTER 5: SOFTWARE IMPLEMENTATION………………...16

5.1 Algorithm….…………………………………………………….16
5.2 Arduino Code……………………………………………………17

CHAPTER 6: FUTURE SCOPE……………………………………19

6.1 Applications……………………………………………………..19
6.2 Future Scope…………………………………………………….20
6.3 Conclusions……………………………………………………...21

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 CHAPTER 1: INTRODUCTION

Fig 1.1.1: 3DOF and 4DOF Robotic Arm

1.1 Understanding Robotic Arm

Robotic arms play a vital role in modern automation, offering precise,
repeatable motion for a wide range of tasks. This report details the
implementation of a 4 Degrees of Freedom (DOF) robotic arm
using the acrylic kit, exploring hardware assembly, servo control,
and software-driven pose reporting. The system is built around an
Arduino microcontroller and operated through a joystick, allowing the
user to direct each joint with intuitive, real-time control.
Designed primarily for pick-and-place applications, the project brings
together mechanical structure, electronic integration, and embedded
programming. By studying how these elements work together, the
report highlights the process of creating a compact robotic manipulator
capable of stable, accurate, and coordinated movement. This
introduction sets the framework for the design methods,
implementation steps, and performance observations discussed in the
chapters that follow.

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1.2 Overview of Robotic Arm
Robotic arms have become essential tools in modern industries, where
precision, speed, and consistency are critical. They are used in
countless automation tasks such as welding, assembly, packaging,
material handling, inspection, and even delicate operations that
demand accuracy beyond human ability. Their design draws
inspiration from the structure and movement of a human arm,
allowing them to reach, lift, rotate, and place objects with controlled
intention.

A typical robotic arm is built from a series of joints, each providing a

specific Degree of Freedom (DOF) that adds to the arm’s range of
motion. These joints are driven by actuators, most commonly motors
or servos, which convert electrical signals into mechanical movement.
At the end of the arm lies the end effector—a tool such as a gripper,
claw, or specialized attachment—responsible for interacting with
objects in the environment.

Fig 1.2.1: Dimensions for 4 DOF Robotic Arm

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CHAPTER 2: OBJECTIVES OF ROBOTIC ARM

This project aims to:

• Understand the working principles and motion mechanisms of a

robotic arm, including joints, degrees of freedom, and basic
kinematics.

• Assemble a fully functional 4-DOF robotic arm, integrating

mechanical parts, servos, and structural components.

• Control all servos using an Arduino and joystick, enabling

intuitive, real-time movement of each joint.

• Implement pose reporting and memory functions, allowing the

arm to record and recall specific positions.

• Strengthen logical thinking and programming skills through

coding, calibration, and system testing.

• Learn servo positioning with respect to the XYZ-axis, gaining

clarity in spatial movement and coordinated control.

• Explore teach-and-repeat functionality, where the arm can

replicate a sequence of learned motions automatically.

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 CHAPTER 3: CONSTRUCTION OF ROBOTIC
ARM
3.1 Understanding Degree of Freedom

Degrees of Freedom (DOF) describe how many independent ways a

robotic arm can move. Each DOF is like a separate “direction of
freedom,” allowing the arm to bend, rotate, or shift in space. The more
DOFs, the more flexible and human-like the robot’s motion becomes.

✦ 1 DOF:
A robot with 1 DOF can make only one type of motion.
Example: A simple servo rotating left and right.

✦ 2 DOF:
Allows two independent movements.
Example: A crane arm that can lift up/down and rotate.

✦ 3 DOF:
Adds full movement in 3D space. The end (hand) can reach any point
in an XYZ coordinate plane.
Common movements include: base rotation, shoulder up/down, elbow
up/down.

✦ 4 DOF:
A 4-DOF robotic arm can position itself in 3D and rotate its wrist.
Common joint set: base rotation, shoulder movement, elbow
movement, wrist rotation.
Use: simple pick-and-place, object sorting, educational robots.
4 DOF allows positioning + a basic orientation change of the gripper.

✦ 5 DOF:
Adds another orientation control to the wrist.
Movements now include: base rotation, shoulder, elbow, wrist pitch,
wrist yaw.
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✦ 6 DOF (Industrial Standard)
A 6-DOF robot can move like a human arm. It can place its tool in any
position and in any orientation in 3D space — known as full spatial
freedom.
Typical joints: base rotation, shoulder, elbow, wrist pitch, wrist yaw,
wrist roll
Use: industrial robots, welding arms, surgical robots, humanoid arms.

✦ More than 6 DOF (Redundant Robots)

Robots with 7 DOF or more have extra flexibility.
They can:
• Avoid obstacles
• Move around corners
• Mimic human shoulder movement
Example: 7-DOF robotic arms used in medical and service robots.

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3.2 Kit Description

4 DOF Robotic Arm Kit includes:

S. No. Component Quantity

1. Arduino UNO R3 1
(CH340) + Cable
2. Arduino Sensor Shield 1
V5
3. Servo Motor SG90S 4

4. Robotic Arm Acrylic 1 Set

Kit
5. Joystick module 2

6. Jumper Wire 10

7. Power Adapter DC 5V 1
2A
8. Single Core Cable 1

9. DC Jack (Female) Plug 1

Converter
Table 3.2.1: Kit Components

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 3.3 System Components Overview

1. Arduino Uno:

The Arduino Uno is a small yet powerful microcontroller board that

serves as the control heart of many beginner and advanced electronic
projects. Built around the ATmega328P chip, it offers a reliable
platform for reading inputs, processing commands, and driving outputs
such as motors, sensors, and displays. With its 14 digital I/O pins, 6
analog inputs, USB interface, and simple power options.

In the context of a robotic arm, the Arduino Uno works like the arm’s
silent thinker—receiving signals from the joystick, interpreting those
inputs, and sending precise control pulses to each servo motor. Its ease
of programming, wide community support, and compatibility with
countless modules make it an ideal choice for developing responsive,
real-time control systems.

Fig 3.3.1: Arduino UNO Board

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2. Sensor Shield:

A sensor shield is an add-on board that simplifies the connection of

multiple sensors to an Arduino. It provides organized pin headers,
separate power lines, and easy plug-in ports, allowing sensors to be
connected without complex wiring. In robotics, a sensor shield helps
manage inputs such as switches, encoders, or proximity sensors,
making the system easier to assemble, expand, and troubleshoot.

Fig 3.3.2: Sensor Shield Board

3. Servo Motor SG90S:

The SG90S is a small, lightweight 180° servo motor commonly used in

hobby robotics. It offers precise angle control using PWM signals and
is ideal for joints that need smooth, controlled movement.

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Despite its compact size, it provides enough torque for light tasks,
making it suitable for robotic arms, grippers, and other motion-based
projects.

Fig 3.3.3: SG90 Servo Motor

4. Dual Joysticks:

A joystick module is an analog input device that provides two-axis

control, allowing movement along the X and Y directions. It works
using built-in potentiometers that change voltage as the stick is moved,
sending these signals to the Arduino for interpretation. In a robotic arm,
the joystick module offers smooth, intuitive control of different joints,
making it easy to guide the arm’s movements in real time.

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 Fig 3.3.4: Joystick

5. Acrylic Kit:

An acrylic kit for a 4-DOF robotic arm includes pre-cut acrylic plates,
brackets, and mechanical parts used to build the arm’s structure. The
acrylic pieces are lightweight, durable, and precisely shaped, making it
easy to assemble joints, mount servos, and form the base of the arm.
This kit provides the mechanical framework needed for each degree of
freedom, giving the robotic arm a stable, clean, and visually appealing
design.

Fig 3.3.5: Acrylic Kit for 4 DOF Robotic Arm

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6. Jumper Wires:

Jumper wires are small connecting cables used to link components on

a breadboard or between modules and the Arduino. They help create
quick, flexible connections for signals and power.

Fig 3.3.6: Jumper Wires and Power Adapter

7. Power Adapter DC 5V 2A:

A 5V 2A power adapter provides a stable external power supply for

servo motors and electronics, ensuring they receive enough current to
operate smoothly without overloading the Arduino.

8. Single Core Cable:

A single core cable is a rigid wire used for stable electrical connections.
It is often used for power lines or fixed wiring where a firm, dependable
connection is needed.

9. DC Jack (Female) Plug Converter:

A DC jack (female) plug converter allows the power adapter to connect

easily to the servo shield or other circuit components. It provides a
secure way to deliver external power to the system.

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 3.4 Robotic Arm Connection

Fig 3.4.1: Connection Diagram

Explanation
1. Arduino + Servo Shield (Central Controller):
• It acts as the brain of the system and receives joystick signals and
converts them into servo control commands.
• Distributes regulated power to all servos and input modules.
2. Servo Motors (Servo1–Servo4):
• Each servo represents one joint of the robotic arm (4-DOF).
• Signal wires from the servo shield control rotation angles.

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3. Left Joystick Module:
• Controls two directions of movement (X-axis and Y-axis).
• Typically mapped to base rotation and shoulder movement.
• Sends analog values to the controller.
4. Right Joystick Module:
• Controls the other two joints of the arm.
• Usually mapped to elbow and wrist/gripper movement.
• Also sends analog signals to the controller.
5. System Flow:
• User moves the joysticks.
• Joystick modules generate analog voltage signals.
• Arduino reads these signals via analog input pins.
• Arduino maps joystick values to servo angles.
• Servo shield outputs accurate PWM signals to each servo.
• Servos rotate accordingly, moving the robotic arm.

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 CHAPTER 4: WORKING PRINCIPLE
A robotic arm moves only when its joints receive precise electrical
instructions, and this project achieves that control through a pair of
joysticks connected to an Arduino microcontroller. Each movement of
the user’s hand becomes an electrical whisper, carried through wires,
interpreted by the controller, and finally transformed into smooth
mechanical motion by the servomotors. Thus, the arm becomes an
extension of the user’s intention.
4.1 How the Joystick Controls Each Servo?
1. Each joystick contains two potentiometers – one for the X-axis and
one for the Y-axis. As the joystick moves, the resistance changes.
[Link] changing resistance produces a varying analog voltage (0–
5 V). Every direction corresponds to a different voltage value.
[Link] Arduino continuously reads these voltages using its analog input
pins (A0–A5).
4. Based on the voltage range, the program maps each reading to an
angle between 0° and 180°.
[Link] angle is then sent to the corresponding servo motor as a control
signal.
4.2 Signal Flow: From User Input to Mechanical Motion
1. User Input: The user moves the joystick. Each tilt produces a new
analog voltage.
2. Arduino Reading: Arduino reads these voltages through its ADC
(Analog-to-Digital Converter), converting them into digital values (0–
1023).
3. Mapping & Processing: The Arduino sketch- filters noise, maps
ADC values to servo angle, limits unsafe ranges, applies smoothing if
needed.
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4. PWM Generation: For every servo, the Arduino generates a PWM
pulse that corresponds to the desired angle.
5. Servo Response: The servomotor reads the pulse width and rotates
its shaft to the exact commanded position.
6. Mechanical Output: Through gears and linkages, the joint moves—
giving rise to base rotation, shoulder lift, elbow movement, wrist
twisting or pitch.
4.3 PWM Explanation (Pulse Width Modulation)
Servomotors do not rotate using raw voltage—they obey timing, not
power. A servo expects a control signal made of repeated pulses:
• Frequency: 50 Hz (one pulse every 20 milliseconds)
• Pulse width: 1 ms to 2 ms
Meaning of Pulse Width-
Pulse Width Servo Angle
1.0 ms 0°
1.5 ms 90°
2.0 ms 180°
The longer the pulse, the farther the servo rotates.

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CHAPTER 5: SOFTWARE IMPLEMENTATION

5.1 Algorithm for Joystick-Controlled 4-DOF Robotic Arm

This algorithm for Arduino code is to control a 4-DOF robotic arm
using two joysticks. Each joystick has two axes (X and Y), so together
they provide four analog inputs to control four servomotors.
1. Start the system.
2. Include the Servo library to enable PWM-based servo control.
3. Declare four servo objects corresponding to the four joints of the
robotic arm.
4. Assign analog input pins (A0–A3) to the four joystick axes.
5 .Assign digital PWM pins (3, 4, 6, 10) to the four servomotors.
6. Initialize the servos in the setup() function by attaching each servo
object to its respective PWM pin.
7. Enter the continuous loop:
a) Read analog values from all four joystick axes using
analogRead().
These values will lie in the range 0 to 1023.
b) Map each joystick reading to a corresponding servo angle in the
range 0° to 180° using the map() function.
c) Send the mapped angles to the respective servos using
[Link](), thereby generating the correct PWM pulses.
d. Allow a small delay (typically 15 ms) to ensure smooth servo
movement and reduce jitter.
8. Repeat the loop endlessly, converting every movement of the
joysticks into real-time motion of the robotic arm.

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5.2 Arduino Code
#include<Servo.h>

Servo middle, left, right, claw ;

int middlePin = A0;

int leftPin = A1;
int rightPin = A2;
int clawPin = A3;

int middleValue = 0;
int leftValue = 0;
int rightValue = 0;
int clawValue = 0;

void setup()
{
[Link](11);
[Link](10);
[Link](9);
[Link](6);
}

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void loop()
{

middleValue = analogRead(middlePin);
leftValue = analogRead(leftPin);
rightValue = analogRead(rightPin);
clawValue = analogRead(clawPin);

middleValue = map(middleValue, 0, 1023, 0, 180) ;

leftValue = map(leftValue, 0, 1023, 0, 180) ;
rightValue = map(rightValue, 0, 1023, 0, 180) ;
clawValue = map(clawValue, 0, 1023, 0, 180) ;

[Link](middleValue);
[Link](leftValue);
[Link](rightValue);
[Link](clawValue);

delay(400);
}

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 CHAPTER 4: FUTURE SCOPE

4.1 Applications:

1. Industrial Use:
In industry, the robotic arm serves as a dependable worker, performing
repetitive tasks with unwavering accuracy.
It is used for:
• Material handling and sorting
• Assembly line operations
• Packaging and inspection
• Light-duty manufacturing tasks

2. Teaching–Learning:
In education, the arm becomes a living classroom—an excellent tool
for students exploring the world of robotics.
It helps learners understand:
• Servo control and PWM
• Degrees of freedom
• Kinematics and coordinate systems
• Microcontroller programming
• Sensor–actuator integration

3. Pick-and-Place Operations:
Pick-and-place is one of the most common tasks suited for a 4-DOF
arm. It can:
• Grasp objects
• Move them along a defined path
• Place them precisely at the desired location

4. Automation Systems:
The robotic arm acts as a building block for larger automated systems.

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It can be integrated into:
• Automated testing stations
• Sorting and inspection systems
• Prototype manufacturing setups
• Small-scale robotics projects and research platforms
By performing tasks autonomously, the arm reduces human error and
enhances operational efficiency.

4.2 Future Scope:

• Adding sensors such as ultrasonic, IR, or vision modules can

allow the arm to feel and see, making its actions more intelligent
and adaptive.

• Upgrading to higher-torque, metal-gear servos can lift heavier

loads and offer smoother, more durable motion.

• Incorporating machine-learning models can help the arm learn

patterns, improve accuracy, and adjust movements without
manual reprogramming.

• Wireless control through Bluetooth or Wi-Fi shields can free it

from cables, letting it roam into remote or collaborative
applications.

• Expanding to 5-DOF or 6-DOF can give it the fluidity of a human

arm, opening the door to advanced automation, precision tasks,
and research-grade robotics.

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4.3 Conclusion:

• A 4-DOF robotic arm stands as a graceful bridge between

mechanical motion and digital control, proving how simple
degrees of freedom can weave complex tasks.

• With precise servo coordination, stable power, and Arduino’s

gentle logic guiding each joint, the arm becomes a reliable
companion for pick-and-place work, sorting, light assembly, and
educational exploration.

• Its structure shows how motion can be broken into elegant layers
— base rotation, shoulder rise, elbow extension, and wrist
alignment — each moving in harmony like a small mechanical
symphony.

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 REFERENCES

1. [Link]
2. [Link]
3. Y. A. Yusof et al., “Development of Low-Cost Robotic Arm for
Educational Purposes,” International Journal of Advanced
Computer Science and Applications.
4. Arduino Documentation. “Servo Library,” [Link]
5. Khalil, W., & Dombre, E. Modeling, Identification and Control
of Robots. Butterworth-Heinemann.
6. ROS Wiki. Tutorials on robotic arm control.
7. J. Kennedy, P. Corke,“Design and Control of a Low-Cost 4-
DOF Robotic Arm,” Australian Conference on Robotics and
Automation, 2013.