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# Micro Manipulator Stepper (Page under construction)
<img width="3840" height="2160" alt="image" src="https://github.com/user-attachments/assets/a4db5809-44b0-48ae-b589-fc47345dc1eb" /># Micro Manipulator Stepper (Page under construction)
This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion controll platform achieving sub micrometer precision.
It's designed for applications such as optical alignment, probing electronic components, and microscopy.
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The device can be controlled via simple G-Code commands over an USB serial interface and is thus easily integrated into other projects.
The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
<div style="display: flex; gap: 1%;">
<div style="display: flex; gap: 5%;">
<img src="images/MicroManipulator.jpg" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
<img src="images/ControllerPCB.jpg" alt="Image 2" style="flex: 1; object-fit: contain; height: 10vw;">
</div>
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The electronics is designed in **KiCAD** and only commonly available modules (Motordrivers, MCU board) are used and connected by a simple PCB. No SMD soldering is required to populate the board to make the build extra accassible.
<div style="display: flex; gap: 1%;">
<div style="display: flex; gap: 5%;">
<img src="images/Kicad-Board.jpg" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
<img src="images/ControllerPCB.jpg" alt="Image 2" style="flex: 1; object-fit: contain; height: 10vw;">
</div>
### ⚙ Firmware
The firmware is written in C++ and takes some inspiration from the 'SimpleFOC' project. It aims to be streamlined and readable without any extra fuss, focussing at the hardware ised in this project.
It implements path planning with look-ahead and unlike many other motion controller projects supports true 6DOF-Pose interpolation and planning making it ready for driving hexapod motion plattforms, that may or may not be the next step for this project.
<div style="display: flex; gap: 5%;">
<img src="documentation/firmware/firmware_overview.png" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
<img src="documentation/firmware/path_planning.png" alt="Image 2" style="flex: 1; object-fit: contain; height: 10vw;">
</div>