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 Startup & Commissioning Guide – Mark II & Mark III

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).

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.

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 Robot Kinematics Explained

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.

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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AR4 6 axis DIY Small Robot ARM_Annin Robotics
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