Color Sorting Robotic Arm

Khan, Saleh Ahmad; Anika, T. Z.; Sultana, Nila; Hossain, Farhana; Uddin, Md. Nasir

doi:10.1109/icrest.2019.8644167

Cited by 7 publications

(3 citation statements)

References 7 publications

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“…In this research, the manipulator navigation system and its implementation are designed and discussed to carry out sorting activities based on the color of the digital image input. Research [7] - [10] designed a robot arm using a color sensor as the manipulator's motion control input, but the color sensor did not have the ability to obtain object location data. While research [8] - [13] used image input from a digital camera to obtain color data and object location at once.…”

Section: Imentioning

confidence: 99%

“…Tsai (2015) [15] proposed a hybridswitched reactive visual servo navigation system to the 5-DOF manipulator for sorting by color and shape, also the image-based visual servoing (IBVS) method for the effector function of retrieving objects and position-based visual servoing (PBVS) for initial-position navigation to targets. In contrast to studies [8] - [10] which used a single camera, Tsai used two cameras. The first camera is for PBVS and the second camera for IBVS.…”

Section: Imentioning

confidence: 99%

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Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

Agustian

Daratha

Faurina

et al. 2021

J. Elektron. dan Telekomun.

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This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based on color is carried out to observe error propagation in the implementation of manipulator on real system. The objects image captured by the digital camera were processed based on HSV-color model and the centroid coordinate of each object detected were calculated. These coordinates are end effector position target to pick each object and were placed to the right position based on its color. Based on the end effector position target, PD-PIJ inverse kinematics method was used to determine the right angle of each joint of manipulator links. The angles found by PD-PIJ is the input of DH forward kinematics. The process was repeated until the square end effector reached the target. The experiment of model and implementation to actual manipulator were analyzed using Probability Density Function (PDF) and Weibull Probability Distribution. The result shows that the manipulator navigation system had a good performance. The real implementation of color sorting task on manipulator shows the probability of success rate cm is 94.46% for euclidian distance error less than 1.2 cm.

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Section: Imentioning

confidence: 99%

Section: Imentioning

confidence: 99%

Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

Agustian

Daratha

Faurina

et al. 2021

J. Elektron. dan Telekomun.

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“…With the combined task of the output component (Servo Motorsactuator for robot arm) and input component (TCS320 Color Sensor), the whole robot system offered a complete and satisfactory operation of color sorting to provide an accurate sorting function. In comparison to the previous works in color sorting function [10][11][12][13][14][15][16], this research offered a variety of color signals that can be read by the sensor and transferred to the microcontroller. Nevertheless, the lack of automatic and wireless functions posed some limitations and thus will be the main focus of this work.…”

Section: Introductionmentioning

confidence: 99%

Automatic Control of Color Sorting and Pick/Place of a 6- DOF Robot Arm

Lim¹,

Teoh²,

Normaniha³

et al. 2021

JESA

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This work focuses on the implementation and design of a six degree of freedom, 6-DOF control of automatic color sorting and pick and place tasks for a robot arm using wireless controlling interface – Blynk apps. Based on the collaboration between the servo motor and input color sensor, this wireless control of automatic color sorting robot arm provides a powerful wireless control GUI (Graphics User Interface) and to enable the method for manual color sorting mode. The color sorting mode is performed once the mode is turned on by the user. The robot arm able to differentiate the colors of the object (input) and categorize or classify the object to the correct places automatically. It provides a stable, efficient, and precision results without any vibration of control as the main target for this project. In this work, six servo motors were used to realize the real robotic arm for industrial use. Five servos were operated to control the entire robot arm motion including the base, shoulder, and elbow as well as one servo is reserved for the positioning of the end effector. Two input variables namely TSC3200 Color Sensors & HC-SR04 Ultrasonic Sensors were employed as the input for the robot arm. The output variable mainly focused on the servo motor as the links for the robot arm to reposition and change the motion for the entire system.

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