Design of a prototype of manipulator arm for implementing pick-and-place task in industrial robot system using TCS3200 color sensor and ATmega2560 microcontroller

Abstract

It is widely known that the industrial robot system has supported an automation of production process in the industry. A robot provides consistent and predictable productivity that reduces management oversight. In manufacturing system, a manipulator arm is a type of robot that commonly used to pick and place the workpieces into a certain position. This paper describes a prototype of manipulator arm for implementing pick-and-place task in industrial robot system. Manipulator arm separates items based on the color detected by the TCS3200 color sensor and then processed by the ATmega2560 microcontroller. Furthermore, the output of the microcontroller will send a signal to four servomotor drivers to move the robot arm in the desired direction. The robot picks objects and places them in the designated place. The experiments are carried out to pick objects with certain colors and shapes and place into the provided container. The experimental result shows that manipulator arm works well according the design objective such as color accuracy and time response of robot movement from initial time until achieving the goal.