4 DoF forward kinematic controlled arm – capable of lifting a weight of over 5kgs. Dedicated PID Stepper drivers in connection with Marlin hardware and software allowed us to manually operate the arm. Control was also executed by physical twin system using position tracking of a twin’s joins using integrated potentiometers. Depending on the settings our arm is capable of lifting heavy weights or moving with extreme speed and precision.

Table below shows our development process for control

Control Method	Pros	Cons
Arduino Based Switch Control	Transparent and Raw Control	Slow and Tedious
Potentiometer (1:1 Physical Twin Teleop)	High Accuracy and very intuitive	Change in Speed-Torque required reuploading of code or very heavy C files
G-Code (Marlin + CNCjs)	High Precision (~1mm) and Mode Selection	Low intuitive control/manual control (but still figuring it out)

Gold Standard: High Precision (~2mm) and Intuitive Control (Adaptive Manual Control)

(Image shows our potentiometer based control wiring)