AR Robot Builder

Joseph

Puzzo

Skill Level:

Expert/Professional

Industry:

Motor Vehicle Manufacturing

Company Name:

Tesla

Job Title:

Staff Software Developer

City:

Alton Bay

State / Region:

New Hampshire

Country:

United States of America

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Automates unattended 3D printing with vision-guided plate handling

UC Davis AR4 + Bambu A1 Mini Automated Print Cell

Kevin Oghalai and the UC Davis MaSTeR Lab paired an Annin AR4 with a Bambu A1 Mini to run an unattended print cell. Vision uses ArUco markers so the arm can estimate locations, pull the print plate, scrape finished parts, and reseat the plate for the next cycle—fourteen successful prints over an eight-hour run for an IMECE 2026 submission. A strong education/research showcase of AR4 in a real automation loop.

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AR4 motion control with S-curve acceleration and collision-safe homing.

AR4 Robot Arm Smoother Motion with Custom Homing

About my Build

The AR4 robotic arm system received significant motion control upgrades. The core innovation involves a split-axis homing sequence that prevents potential self-collision during initialization by separating the homing process into two distinct phases.

Motion control improvements center around advanced acceleration algorithms implementing S-curve profiles, replacing the previous linear motion approach. This upgrade enables smooth transitions between waypoints while maintaining positioning accuracy. The Raspberry Pi-based control system executes these motion profiles while managing real-time position feedback.

Operational Workflow

System initialization with split homing sequence
Automatic centering procedure completion
Waypoint execution with dynamic speed adjustment
Continuous collision monitoring during operation
Graceful error recovery protocols

Performance Outcomes

72% reduction in motion-induced vibration
100% prevention of homing collisions
Sub-millimeter positioning repeatability

The complete motion control solution demonstrates how firmware and control logic enhancements can significantly upgrade robotic system capabilities without mechanical modifications. Video documentation showcases the dramatic improvement in motion quality and operational safety.

Workflow / Process

Power on Raspberry Pi controller
System boots custom motion control software
Arm executes split homing sequence (joints 1-4 first, then joint 5)
Arm moves to center position
User initiates waypoint demonstration
Arm moves through waypoints with smooth acceleration/deceleration
Gripper demonstrates gentle object handling
Arm returns to center position

Primary Use Cases

Demonstrate fluid AR4 arm motion for delicate tasks

Highlight real-world before/after motion improvements

Showcase precision object handling (cup manipulation)

Custom Modifications

"Split homing" sequence (Joints 1-4 → Joint 5)

Collision-avoidance logic for gripper safety

Fine-tuned motion paths for smooth transitions

Hardware Add-ons

Custom power/communication wiring

Mounting system for Pi integration

Raspberry Pi 4 control unit

Software Used

Added S-curve acceleration/deceleration algorithms

Developed Raspberry Pi boot/control interface

Implemented waypoint-specific speed profiling

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Loads a single slide into a cassette for scanning

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Hans de Bruin (Ctrl-Alt-Dude) runs an Annin AR4 through a precision task: loading a single slide into a cassette for scanning. The orange AR4-branded cover and workshop instrumentation frame a real lab-style use case beyond generic demos. Strong application clip for the User Builds gallery from a distinct European maker.

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AR4 arm tests airflow from a Noctua fan.

Ken Son Annin AR4 First Run

Ken Son’s first run of an Annin AR4 tests airflow from a Noctua fan while the orange-and-white labeled arm moves on the bench. A classic commissioning moment from an independent builder—approachable proof that a completed AR4 can go from assembly to useful motion. Strong entry-level showcase for the User Builds hub.

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Vision-guided pick-and-place with a Logitech webcam on an Annin AR4.

Sami Sattanen AR4 Vision-Guided Pick Test

Sami Sattanen’s first AR4 vision test uses a Logitech webcam for pick-and-place on a cutting mat, with candid notes on perspective error and why a farther zoomed camera helps. Custom purple printed cable-management parts personalize a clear Annin AR4. Honest maker debugging content that helps others starting vision on the platform.

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Controlling an AR4 MK3 with Python for a chess robot.

AR4 MK3 Python Chess Robot Experiment

After the mechanical assembly series, Yaser Ali Husen shows higher-level use: driving the AR4 MK3 from Python in a chess-robot experiment. Strong software/education angle.

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Live-lab unboxing and early CAD tweaks on an AR4 MK4 kit.

Kat’s Lab AR4 MK4 Kit Build — Part 1

Kat’s Lab begins an AR4 MK4 build on stream/VOD—going through kit parts and making early CAD adjustments before deeper assembly. Useful for builders starting an MK4 kit. Distinct from Chris Annin’s official videos.

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AR4 MK3 identifies, sorts, and stacks mixed blocks.

AR4 MK3 Sort and Stack Demo

Lowrider4sd shows an AR4 MK3 performing identify → sort → stack on mixed blocks. Clean pick-and-place / object-sorting application clip demonstrating perception-plus-motion usefulness.

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Festive AR4 that hands out full-size Halloween chocolate bars.

Halloween AR4 Chocolate Bar Dispenser

dedoky put an AR4 to playful real-world use—dispensing full-size chocolate bars for Halloween. It’s a memorable community application that shows the arm outside the lab: event entertainment, timed handoffs, and a crowd-pleasing demo that still reads clearly as an Annin AR4.

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AR4 demo carefully moving a cup — precision handling.

RobotJS AR4 Cup Manipulation Demo

RobotJS runs an AR4 through a cup-moving demo that highlights smooth joint motion and end-effector control. The channel also covers AR4 acceleration tuning and JS-oriented robot control, making this a strong application clip for the User Builds gallery.

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The DIY 6 axis Robot Arm Powering Thousands of Projects

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