KARL-Robot - 6-Axis Robot Arm

KARL V2 motion

KARL V2 Hand guiding and repeating

Teach-in GUI with 3D View & Ghosting

Easy Python-API

KARL V3 Preview

▶ YouTube Channel 🐙 GitHub Repository

True Absolute Joint Feedback:
Magnet encoders measure arm/output shaft positions directly. Enables backdrivability, hand-guiding, easy point teaching, and real-time PID control.
Real-Time Trajectory Streaming:
The CAN controller buffers and streams motion trajectories milliseconds into the future, guaranteeing deterministic execution.
Multi-Client ZMQ Architecture:
Backend driven via ZeroMQ/TCP-IP. Run automated Python scripts concurrently while the PySide/OpenGL GUI provides live 3D visualization.
Simulation Mode on Localhost:
Test and write Python scripts without physical hardware connected.
Distributed Motion Control Units:
Custom STM32 PCBs (NEMA 17 size) mounted directly at the joints. Clean daisy-chain wiring with 24V supply, CAN and NC loop.
3D Printed & Off-the-Shelf:
Accessible hardware combining 3D printing with standard off-the-shelf components.
Current Status:
V2 testbed operational! Market ready V3 Facelift releasing soon.