Getting Started Building Your Robot:

Download the free robot build manual → Manual
Read chapter 1, bill of materials, and make sure you have everything you need to get started.
Read the overview section to learn some details and techniques for building your robot.
Read chapter 2 and follow the detailed, simple-to-follow steps in assembling your robot.
Download the Teensy Control Board firmware here.
Download the robot control software for your PC here.
Read chapter 7 and watch this video on loading the software.
SOFTWARE
SOFTWARE
• WATCH THIS VIDEO ON TESTING LIMIT SWITCHES AND ENCODERS TO MAKE SURE THEY ARE WORKING • WATCH THIS VIDEO ON CALIBRATING YOUR ROBOT
• WATCH THIS VIDEO ON PROGRAMMING YOUR ROBOT
ADDITIONAL INFO:
• IF YOU ARE INTERESTED IN LEARNING ABOUT HOW THE ROBOT KINEMATICS WORK WATCH THIS VIDEO
• IF YOU WANT TO KNOW MORE ABOUT HOW THE ROBOT IO AND GRIPPERS WORK WATCH THIS VIDEO
• IF YOU WANT TO LEARN HOW TO GET YOUR ROBOT TO COMMUNICATE WITH A PROGRAMABLE LOGIC CONTROLLER (PLC) WATCH THIS VIDEO
• IF YOU WANT TO LEARN MORE ABOUT PROGRAMMING AND USING THE SOURCE CODE CHECK OUT THIS VIDEO
HERE IS THE COMPLETE LIST OF TUTORIAL VIDEOS ON THE ANNIN ROBOTICS YOUTUBE CHANNEL:

AR4 Robot Programming Guide: Mastering Motion, Automation, and Precision

Learn joint/Cartesian jogging, motion programs (linear/arc/circle moves), loops, position registers for offsets, I/O control for grippers, conditional jumps, track integration, and troubleshooting. Ideal for users who've completed assembly/startup—unlock your AR4's full potential.

AR4 Robot Grippers & I/O Control: Pneumatic and Servo Grippers

This tutorial shows how to install and program both pneumatic (high-strength) and servo (precision) grippers, including Arduino Nano wiring and I/O control. You'll also learn to configure limit switches, program conditional logic, and use Teensy board I/O for complete robot automation solutions.

AR4 Auxiliary Axis & Com Device Upgrades

This video covers the latest AR4 Mark III upgrades, including new EG-series gear motors for Joint 6, redesigned 360° limit switches for Joints 4/6, and expanded calibration options for external axes. We also demonstrate powerful new software features like multi-stage calibration, advanced if/then programming logic, and seamless barcode scanner integration for automated sorting applications.

Getting Started

AR4 Robot Startup & Commissioning Tutorial

This video guides you through powering up and calibrating your AR4 robot (Mark II/Mark III). Learn how to install control software, configure the Teensy 4.1 board, test encoders/limit switches, jog axes, and run auto-calibration. For users who’ve completed assembly (Chapter 2 in manual).

What this Tutorial Covers:

Software Setup & Installation

Introduction & Overview
Downloading Required Software (Control GUI & Teensy Sketch)
Installing Arduino IDE & Teensyduino Drivers
Uploading the Teensy 4.1 Controller Sketch
Installing and Configuring the AR4 Control Software

Initial System Checks

Verifying Encoder Feedback
Testing All Limit Switches
Powering On the Drives and Jogging Each Axis
Troubleshooting Encoder or Jogging Issues

Calibration Procedure

Running the Auto-Calibration (Two-Stage Process)
Fine-Tuning Calibration with Offsets
Troubleshooting Calibration Issues

Troubleshooting & Support

Checking Wiring Connections
Testing Limit Switch Signals with a Multimeter
Verifying Motor Direction
Conclusion & Support Contact

AR4 HMI Software Basic Programming

This tutorial provides a complete walkthrough of the AR4 HMI interface for software version 6.5. You'll explore all HMI tabs, learn to use the Virtual Robot for offline programming, master Joint, Cartesian, and Tool Frame jogging, and understand program creation with move types J, L, and R. The tutorial concludes with a practical pick-and-place example using position registers. Ideal for both new and experienced users.

What this Tutorial Covers:

Interface Overview

Main Controls, Config, Kinematics, I/O, Registers, Vision
Understanding the layout and function of each tab
Navigation tips for efficient workflow

Virtual Robot Simulation

Program and test code completely offline
No physical robot required for learning and development
Identical behavior to the real robot for accurate testing

Programming and Example

Master Joint, Cartesian, and Tool Frame jogging modes
Precise manual positioning for teaching points
Speed and increment adjustments for fine control

Advanced Motion & Programming Logic

Create programs using move types J, L, and R
Manage program flow with calls, loops, and registers
Hands-on pick-and-place demonstration using position registers for offsets
Wait and Set Output Statements

AR4 Robot Programming Tutorial Compilation

This tutorial compiles years of AR4 programming knowledge into a single, essential guide. Whether you're a beginner commissioning your robot or an advanced user implementing complex tasks, this step-by-step walkthrough covers everything from basic movement to advanced automation.

⚠️ Note:
Some software layouts shown are from previous versions, but all button locations and functionality remain the same and are applicable to the current software. Always ensure your robot is in a safe state before running programs.

Take Online Course

What this Tutorial Covers:

Getting Started and Basic Control

Introduction & Overview
Jogging the Robot
Jogging using the Xbox Controller

Program Creation & Fundamental Moves

Creating Programs and Teaching Positions
Joint Moves, Linear Moves, and Joint Rotation Moves
Modifying and Deleting Positions
Calling a Program
Commenting and Manual Entry

Advanced Motion & Programming Logic

Circle and Arc Moves
Offsets and Registers
If Then Statement
Wait and Set Output Statements

System Setup & Calibration

Auto Calibration Part 1
Auto Calibration Part 2 (Multi Stage Calibration)
Calibration Offsets

Hardware Integration & External Devices

Grippers and IO
Additional Axis (Travel Track)
Com Device (Barcode Scanner Example)
Modbus Functionality

Advanced Applications & Customization

Basic G-code
Vision
Controlling the Robot Directly Through Serial Commands
Using the AR4 Software for Your Own Robot

ROS 2 Setup & Control Tutorial

This video guides you through installing and configuring ROS 2 (Robot Operating System) for your AR4 robot. Learn the system architecture, install ROS 2 Jazzy and required packages (MoveIt, ROS 2 Control), upload controller firmware, and control the physical arm. The tutorial concludes with creating your own ROS node for custom automation.

What this Tutorial Covers:

Introduction & ROS 2 Overview

Understanding the difference between the AR4 HMI software and ROS 2
Key ROS 2 concepts: Nodes, Topics, Services, Actions
Overview of the ROS 2 system architecture for the AR4 (Controller Manager, MoveIt, Hardware Interface)

Software Setup & Installation

Installing ROS 2 Jazzy on Ubuntu Linux
Creating a ROS 2 workspace and cloning the AR4 ROS driver repository
Installing package dependencies (ROS 2 Control, MoveIt)
Building the workspace with Colcon
Configuring the bashrc for automatic ROS 2 sourcing

Hardware & Firmware Setup

Enabling serial port access for the Teensy 4.1
Installing the Arduino IDE and Teensyduino loader
Uploading the main controller sketch to the Teensy 4.1
Uploading the gripper controller sketch to the Arduino Nano (if equipped)

Launching ROS 2 & Controlling the Arm

Launching the AR4 driver node to start communication and run auto-calibration
Launching MoveIt and RViz for visualization and planning
Jogging the robot and using Plan & Execute for movements
Controlling the gripper via planning groups
Using terminal commands for manual control (gripper, park position)

Calibration & Configuration

Understanding the two-stage auto-calibration sequence
Manually triggering joint re-calibration via terminal command
Fine-tuning joint calibration offsets in the firmware
Modifying the calibration sequence behavior via config files

Creating a Custom ROS 2 Node

Creating a new ROS 2 package for a custom application
Walking through a C++ example node (simple_pick_and_place.cpp)
Building and running the custom node to perform an automated task
Explanation of how to expand the template for real applications (e.g., subscribing to vision topics)

Troubleshooting & Support

Verifying ROS 2 installation with the talker/listener demo
Testing the setup with the MoveIt demo mode (without hardware)
Checking serial port connections and firmware uploads
Reviewing system architecture and data flow for debugging

Conclusion & Next Steps

Summary of the ROS 2 control pipeline for the AR4
Ideas for expanding your custom nodes
Links to official ROS 2 tutorials and further resources

AR4 Robot Kinematics

Discover how to calculate robot arm positioning using Denavit-Hartenberg parameters, transformation matrices, and geometric methods for both forward and inverse kinematics. The tutorial covers spherical wrist orientation, joint singularity handling, and practical implementation with downloadable calculation tools.

What this Tutorial Covers:

Introduction to Robot Kinematics

Difference Between Forward and Inverse Kinematics
How Joint Angles Translate to Cartesian Coordinates
Real-time Examples Using AR4 Control Software

Mathematical Foundations

Understanding Rotation Matrices
Matrix Multiplication for Coordinate Transformations
Degrees vs. Radians Conversion
Homogeneous Transformation Matrices

Forward Kinematics Deep Dive

Denavit-Hartenberg (DH) Parameters
Building Transformation Matrices for Each Joint
Tool Frame Configuration and Offsets
Extracting XYZ Yaw Pitch Roll from Final Matrix

Inverse Kinematics Methodology

Geometric Approach for Joint Calculation
Spherical Wrist Concept and Wrist Center Calculation
Joint 1, 2, and 3 Angle Determination
Trigonometric Solutions for Arm Positioning

Advanced Topics & Robot Configurations

Wrist Singularities and Their Mathematical Challenges
Robot Configuration Values (Flip/No-Flip)
Handling Multiple Solutions to Inverse Kinematics
Comparison with Industrial Robots (Fanuc, ABB)

Practical Implementation

Excel Spreadsheet Demonstration
Step-by-Step Calculation Walkthrough
Real-world Examples and Applications
Common Challenges and Solutions

AR4 Vision System Setup Guide

Learn how to configure any USB webcam with the AR4 robot's vision system, including workspace calibration, contrast adjustment, and object teaching for precise part detection. This tutorial covers multi-part recognition, gripper positioning strategies, and automated pick-and-place programming using the latest 2.2 software update.

AR4 G-Code & Safety Upgrades (basic 3 axis cartesian)

Learn how to process complex SVG designs into optimized G-Code files that run directly from the robot's SD card, plus see the new emergency stop button installation for safer operation. The update significantly improves execution speed and adds critical safety functionality to your AR4 robot.

Tutorials

AR4 6 axis DIY Small Robot ARM_Annin Robotics

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