Hybrid Robot MCE321 Project

Project Overview

This project presents a hybrid robotic platform developed for the MCE321 Mechatronics Design and Robotics course, integrating manual remote control and autonomous navigation capabilities on a single ESP32-based system. The robot features a differential drive for agile mobility, a 3‑DOF robotic arm with a gripper for manipulation, and an MPU6050 inertial measurement unit for real‑time orientation tracking. PID controllers leverage IMU feedback to maintain straight‑line motion and achieve precise rotational turns. A PS3 controller provides intuitive manual command of both drive and arm functions, while an ultrasonic proximity sensor enables autonomous obstacle detection. In autonomous mode, the robot scans its surroundings using a stepper‑mounted sensor, identifies the clearest path, and navigates around obstacles without human intervention. The design demonstrates core mechatronics concepts including motor control, inverse kinematics, sensor fusion, and reactive behavior.