Design of color based object sorting through arm manipulator with inverse kinematics method

摘要

Arm manipulator is one type of robot that is widely applied in the industrial world. Robots of this type are commonly used to help people in the hard work, dangerous or repetitive work. Arm manipulator application that has been widely used are for welding, painting, drilling, and displacement. There are two methods of motion in the arm manipulator development, they are forward kinematics and inverse kinematics. In this research, a 3 DOF arm manipulator prototype designed as sorting object by color. The arm manipulator's prototype using inverse kinematics motion in determining the position of the sorted object transfer. In sorting this object is used as a sensor photodiode detector and distinguishing colors object are sorted. The output of this research is to produce a 3 DOF arm manipulator prototype that can move and sort object by it's color. In this research, the average yield on a standard deviation is 0.866 cm for X axis and the Y axis is 1.197 cm. The standard deviation is obtained from 4 kinds of the test site sorting of object variations.