Building a Mini Robot Arm controlled by Mobile phone | Arduino ESP32 Project | 3D printed

In this video, I build a mobile-controlled robotic arm using an ESP32, controlled entirely from a web page — no apps, no Bluetooth pairing, just Wi-Fi and a browser.

Order via NextPCB official website: https://www.nextpcb.com/?code=TechTalkies
Free Gerber Viewer Tool: https://www.nextpcb.com/free-online-gerber-viewer.html

Buy Xiao ESP32 - https://www.seeedstudio.com/XIAO-ESP32S3-p-5627.html?sensecap_affiliate=P9GHEkF&referring_service=link

Code & schematics:
https://github.com/TechTalkies/YouTube/tree/main/91%20Robot%20Arm%20ESP32

3D files:
https://www.printables.com/model/1596575-robotic-arm-with-a-base-for-components

The ESP32 runs as a Wi-Fi access point and hosts a simple HTTP web server with sliders and buttons to control each joint of the arm in real time. To keep motion smooth and avoid jitter, the servos don’t jump directly to new positions. Instead, the controller uses target vs current angles with rate-limited motion, similar to how real robot controllers work.

The project uses four servo motors:

Left–right rotation
Forward–backward motion
Up–down motion
Gripper open/close

All servos are driven directly from the ESP32 using hardware PWM, without a PCA9685 board, and powered separately to avoid brownout issues. For portable power, the setup can run from a 2-cell (2S) Li-ion / 18650 battery pack with proper regulation.

Features

Web-based control (works on any phone)
Smooth, jitter-free servo motion
Reset and homing function
Clean power design for servos and ESP32
No external PWM driver board

If you’d like to see upgrades like inverse kinematics, motion recording, or joystick control, let me know in the comments.

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