KM

Klem
Mekolli

I build machines that move, mostly out of serial bus servos and ESP32 boards.

By day I'm an independent ERP consultant. I get manufacturing schedules to match what the shop floor can actually build.

See the builds Consulting at Peak ERP
Move your cursor around.Tap the grid. The arm solves its joint angles live, the same problem my real arm solves on an ESP32.

Builds

Where each one stands as of fall 2026.

  • Running
  • In progress
  • Next up
  • Designing
The robot arm on the bench

Five-axis robot arm

A rebuild from the ground up. Version one ran NEMA17 steppers through planetary gearboxes and moved decently, but the shoulder never had the strength I wanted. Version two puts a Feetech STS3215 serial bus servo at every joint.

An ESP32 does the inverse kinematics and serves a wireless pendant, so there's no PC in the loop at runtime. The goal is tip tracking: give it a target and the gripper follows.

Status
In progress
Actuators
6× STS3215, 12V
Controller
ESP32 DevKitC
Joints
Base yaw, shoulder, elbow, wrist roll, wrist pitch, gripper
The ESP32 desk station

ESP32 desk station

Started as a weather station and kept growing. It's now a 17-page desk console on two SSD1306 OLEDs, each on its own I2C bus, run from a few buttons.

Pages include the forecast, a fishing bite index scored from weather and solunar data, a pomodoro timer, crypto prices, and five arcade games with high scores saved to flash.

Status
Running
Hardware
ESP32, 2× SSD1306
Pages
17
Games
Flappy, Snake, Breakout, Pong, Invaders
Nine in Ten game screen

Nine in Ten

A daily estimation game. You get numbers nobody knows offhand and give a range you're 90% sure contains the answer. Then you see how far off you were and whether your ranges are honest.

It's live and in a feedback round with a few people before any public push.

Status
Live
Build
Single-file web app
Hosting
Cloudflare Pages
The duck robot build

Walking duck robot

Built on the open-source Open Duck Mini design, but running STS3215 servos at 12V where the reference build uses 7.4V. All 14 servos and the foot switches are mounted.

Right now it's moving off an ESP32 bench rig onto a Raspberry Pi Zero 2W with a BNO055 IMU. After it walks, I plan to redraw the stock parts in my own CAD.

Status
In progress
Base design
Open Duck Mini
Servos
14, STS3215 at 12V
Brain
Pi Zero 2W, BNO055 IMU
The ball-balancing platform

Ball-balancing platform

A use for the spare servos left over from the arm. They tilt a plate while a camera watches the ball, and the PC closes the control loop.

Status
Next up
Feedback
Camera, PC-side control
The kayak with its trolling motor mount

Kayak motor rig

A MotorGuide trolling motor on a custom 3D-printed stern mount, running off a LiFePO4 battery, with a castable Deeper sonar for mapping the water I fish.

Status
Running
Motor
MotorGuide trolling motor
Power
LiFePO4
Sonar
Deeper Pro Plus 2
The desk creature robot

Desk creature

A small desk robot with a screen for a face, a camera on top, and a lamp-style neck that lifts the head out of the body. It tracks people with the camera and idles with organic motion when nobody's around.

Looks like EVE, acts like WALL-E.

Status
Designing
Face
3 to 4 inch screen
Neck
Two-joint lamp style
Compute
PC over USB for v1

Work

In manufacturing since 2017. Most of it spent moving production schedules out of spreadsheets and into ERP systems that reflect how the floor really runs.

  1. 2026 on

    Peak ERP Solutions

    Founder, independent ERP consultant

    JobBOSS scheduling configuration and optimization in aerospace manufacturing. Finite scheduling setup and workcenter audits, plus tracking down why the scheduler crashes or jobs come out with no dates.

  2. 2025 to 2026

    Software conversion planning

    Project planner, remote

  3. 2022 to 2025

    SERAPID

    Project manager, Sterling Heights

    Ran projects at a stage and lift systems maker and helped get the company onto JobBOSS.

  4. 2018 to 2022

    Hi-Tech Mold & Engineering

    Production scheduling lead

    Took a mold shop's scheduling from spreadsheets to Microsoft Dynamics AX.

  5. 2020 on

    Oakland University

    B.S. Electrical Engineering, part-time, in progress

Running JobBOSS and fighting your schedule? That's what Peak ERP Solutions is for. I also write about ERP and production scheduling on the blog there.

Visit peakerpsolutions.com
Klem Mekolli

About

I'm based in Rochester Hills, Michigan. When I'm off the bench I'm usually on the water chasing bass and pike. I have more than 200 catches logged and a habit of picking one piece of structure and studying it until the pattern shows up.

Largemouth best
4.12 lb, chatterbait
Northern pike best
25 in, spoon

I also play kalimba and I'm into audio gear.

Contact

Email is the fastest way to reach me, for builds or for work.