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 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 Robot Programming Tutorial

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.
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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

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 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 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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