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Inverse Kinematics: Analytical Inverse Kinematics solution coded in Python using triangular plane projection. Senses whether the coordinate input is in range of the arm. Average algorithm runtime of 1/100th of a millisecond, near-instant execution. Scalable to higher degrees of freedom without sacrificing time or space complexity.

User Interface: Built in Python using TKinter Library. Takes user input for desired end-effector coordinate. Checkboxes for attachment control. Emergency stop button. User feedback for emergency stop and out-of-range coordinates.

Attachment and Motor Control: Built in Python using PyMata's Firmata protocol for communication with host computer. Relays GUI data to Arduino Microcontroller and controls steppers and attachments using analog PWN ports.

End-Effector: Completely modular system with removable attachments. Current working attachments include a water blaster, vacuum, LED light, and drawing tool. The system allows for others to be developed and easily added based on needs.

Safety Features: Software and Hardware emergency stop using high visibility buttons. Instant deactivation time, killing power to all motors and attachments. Seamlessly resume activity afterward. GUI proves step by step process for dealing with first-aid emergencies after the button is pressed.