Object Sorting System Using Affordable Robotic Manipulator
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Date
2018
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Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
In modern world, automation and robotic are at a high demand as both directly affect
the rapid development in various industries. Also, quality and flexibility of products
are becoming significant criteria. Robots will be the best solution for substitution of
cost of labor wages and higher customer demands. Automation is the most preferred
technique to replace the human labor that perform complex tasks in complex and
risky environments. Pick and place operations are required in many of manufacturing
processes, and it can be automated. Therefore, this study aims to sort and place
different objects according to their shape and color using image processing
techniques. The main objective is to provide a solution for any manufacturing process
which require sorting based on shape, color or their combination. In this study, low
cost, servo motor controlled, CNC machined 5 DOF robotic manipulator with
electromagnetic end effector is used for the object sorting. The shape detection and
color detection algorithms were implemented using MATLAB 2016 and a highquality USB web camera. The robotic manipulator is controlled through an Arduino
Mega via serial connection to MATLAB. Since, higher processing power is required
for the algorithms, a computer was used. A graphical user interface was developed
with customization options. Objects were successfully detected based on shape and
color and sorted using the robotic manipulator.
Keywords: MATLAB, Arduino, Color, Shape, Sorting
Description
Keywords
Information System, Computer Science