Filtering and Classification of Shapes Chromatically Using a 4-DOF Robotic Arm
Manual sorting and classification of products is slow, error-prone, and often takes place in unhealthy working conditions. Replacing that part of the line with a robotic arm makes sense across a range of industries.
This study presents a setup for color-based sorting of shapes using a four-degree-of-freedom robotic arm controlled by a Raspberry Pi. A camera feed runs through an image-processing pipeline that identifies the color of each incoming object, and the arm is then commanded to pick the object up and place it in the bin assigned to that color. The paper covers the mechanical design of the arm, the kinematics, the vision pipeline, and the test results from a continuous-flow scenario.
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Publisher: Sham Center for Studies and Research Published: July 26, 2023
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