ESP32-C3 Controlled OWI-535 Robotic Arm
It is another International Children's Day. Today, let's have some fun of using ESP32 to control an OWI-535 robotic arm.
Finally, my DRV8833 arrived around Surrey Canada Day. Let's FIRST carry out a simple comparison, well, using Deepseek (might be incorrect).
0. Comparisons of Popular Motors of Year 2025
0.1. Motor Driver IC/Module Comparison Table
| Comparison Item | L298N | DRV1508S (MX1508) | DRV8833 | CS9016C (Replacing TB6612) | HR4988 | 2025 Trends |
|---|---|---|---|---|---|---|
| Motor Type | DC (Brushed) | DC (Brushed) | DC (Brushed) | DC (Brushed) | Stepper (Bipolar) | BLDC/Stepper/Servo |
| Commutation | Mechanical | Mechanical | Mechanical | Mechanical | Electronic | Electronic |
| Voltage Range | 4.5V~46V | 5V~18V | 2.7V~10.8V | 2.5V~15V | 8V~35V | 5V~48V |
| Continuous Current | 2A/ch (Peak 3A) | 0.5~1A | 1.5A/ch (Peak 2A) | 1.5A/ch (Peak 4A) | 2A/phase | 1A~30A |
| Control Method | PWM + DIR | PWM + DIR | PWM + DIR | PWM + DIR | STEP + DIR | FOC/STEP/DIR |
| Microstepping | No | No | No | No | Up to 1/16 | Up to 1/256 |
| Efficiency | Low (BJT) | Medium (MOSFET) | High | Very High | High | Very High (FOC) |
| Protection | External Diode | Basic | Comprehensive | Auto-Recovery | Comprehensive | Full Protection |
| Package | Module | SOP-8 | HTSSOP-16 | TSSOP-16 | QFN-28 | Module |
| Applications | Robot Cars | Toys | Battery Devices | Smart Cars/Drones | 3D Printers/CNC | Open-Source Robots |
| Open-Source | No | No | Partial | Yes | Partial | Fully Open |
| Price (USD) | $0.7~1.4 | $0.3~0.4 | $0.35~0.7 | $0.3~0.6 | $0.4~0.8 | $1.5~15 |
0.2. 2025 Recommendation Guide:
| Application | Best Choice | Why? |
|---|---|---|
| Ultra-low cost (≤1A) | DRV1508S | Cheapest ($0.3) |
| Balanced performance | DRV8833/CS9016C | CS9016C for current, DRV8833 for voltage range |
| High-power DC (≥2A) | DRV8871 | Handles up to 3.6A continuous |
| Stepper motors | HR4988 (budget) | Or TMC2209 for silent operation |
| BLDC motors | VESC | Open-source FOC control |
In this particular blog, DVR8833 is adoptted, rather than L298N. Without circuit protection, L298N is more prone to being damaged or burned out.
1. Five DOFs of OWI-535
Refer to Pololu's OWI-535 Robotic Arm Edge Kit:
- a gripper
- 120° wrist motion
- 300° elbow motion
- 180° shoulder motion
- 270° base motion
2. Reference - About ESP32
Please refer to my blogs:
3. Hardware Components
| Any ESP32-C3 board | DRV8833 H-bridge Motor Driver | OWI-535 |
|---|
4. Curcuit Connection
5. ESP32 Code
Please refer to Github LongerVisionRobot ESP32-C3-WiFi-OWI-535-Robotic-Arm.