3d printed 6 axis servo robot arm

Over the past year I've build and improved my 3d printed robotic arm. My main focus with this project was the programing aspect and to get as much functionality out of this thing rather then going for the highest precision I could get. That's why it is using servo motors rather than steppers.

After I had figured out the inverse kinematics I used the opencv library to give the robot vision which I then used to make it perform a few different tasks.
stacking blocks

tracking an object

avoiding objects

source code