A 3D printed humanoid arm(with 5 DOF) is attached to the ABB IRB 1600 ID industrial robot, actuated using servomotors controlled using an Arduino Uno microcontroller which is interfaced to the ABB IRC5 controller via a custom build step-down voltage regulator circuit board.
Project Link: https://seelio.com/w/361q/ara-_anthropomorphic-robotic-arm?student=navneet
Servo_control.ino: The servo control code for the humanoid arm attached to the ABB IRB1600 industrial robot through Atmel ATmega328 microcontroller (Arduino Uno board)
Project video: https://www.youtube.com/watch?v=xqaQjo5hS6o&t=12s