2 DoF robot arm

I have designed and 3D printed a simple 2 degree of freedom robot arm, after I have programmed the system with a simple 2DOF kinematics model.

As you can see in the video, with a forced X value, when the system receives through serial communication an Y value, the kinematic model calculates the needed rotation of each motor to achieve the asked position in a 2D plane and the system performs it.

To control the motors, I am working with a BLDC motor controller usually used in 2 axis gimbal stabilization applications. As it is based on an Arduino microcontroller, I have been able to burn the Arduino Bootloader on it and upload my own code to control the 2 outputs connected to the motors.