Color Sensor-Based Object Sorting Robotic Arm

  • Shantani Sinha
  • Santosh Kumar Suman
  • Awadhesh Kumar
Conference paper
Part of the Algorithms for Intelligent Systems book series (AIS)


In this contribution, it presents a mechatronics application for automatic color recognition and sorting process performed by the robotic arm. Color sorting is the phenomenon for sorting and analyzing different colors of an object and thereby picking and placing the objects at its desired location, thus enhancing efficiency and minimizing human errors in performing a certain task. The present work discusses the design and development of 3-degree-of-freedom (3-DOF) robotic arm. The system consists of two DC gear motors in order to move the robot in any desired location and four servo motors to control the movement of joints of robotic arm. It includes three joints, an end effector, two rectangular links and a rectangular platform. The type of controller used is Arduino Uno microcontroller which is further interfaced with PIR sensor, color sensor TCS3200 and four servo motors to control the direction of robotic arm. The robotic arms are widely used in industries, but most of them are programmed to follow a previously learned trajectory. Very few robots are able to make real-time decisions, and so they may not be considered smart systems. One example of the smart robotic arm is provided by a device which can sort some objects taking advantage of the information contained in tags glued on the basis of the same objects. These systems can be used in several applications for protecting the environments aimed to automatize the processes of waste stocking and disposal simply differentiating the tag information.


Robotic arm Arduino Uno microcontroller Sort of objects Color sensor 


  1. 1.
    Beyer C, Pretz T (2004) Special requirements for material characterization regarding the simulation of solid waste material processing. Resour Conserv Recycl 42:121–131CrossRefGoogle Scholar
  2. 2.
    Pillajo C, Sierra JE (2013) Human Machine Interface HMI using Kinect sensor to control a SCARA Robot. In: 2013 IEEE Colombian conference on communications and computing (COLCOM), pp 1–5Google Scholar
  3. 3.
    Singh A, Balam N (2016) An intelligent color sensing system for building a wall. In: International conference on emerging trends in communication technologies (ETCT), pp 1–4Google Scholar
  4. 4.
    Hu C-Y et al (2016) Visual servoing spanner picking and placement with a SCARA manipulator. In: 2016 IEEE international conference on industrial technology (ICIT), pp 1632–1637Google Scholar
  5. 5.
    Jawahar M et al (2017) Sensor-based color sorting system for leather shoe components. In: 2017 Third international conference on sensing signal processing and security (ICSSS), pp 296–300Google Scholar
  6. 6.
    Kwon Y, Kim W (2014) Development of a new high-resolution angle-sensing mechanism using an RGB sensor. IEEE/ASME Trans Mechatron 19(5):1707–1715CrossRefGoogle Scholar
  7. 7.
    Su S-F, Wang K-J, Chen M-C, Rudas IJ, Tsai C-C (2015) Adaptive PD fuzzy control with dynamic learning rate for two-wheeled balancing six degrees of freedom Robotic Arm. In: 2015 IEEE international conference on automation science and engineering (CASE), pp 1258–1261Google Scholar
  8. 8.
    Feng K, Zhang X, Li H, Huang Y (2017) In: Intelligent robotics and applications, vol 10463, p 576CrossRefGoogle Scholar
  9. 9.
    Munich ME et al (2006) SIFT-ing through features with ViPR. IEEE Robot Autom Mag 13(3):72–77CrossRefGoogle Scholar
  10. 10.
    Angeles J, Morozov A, Navarro O (2000) A novel manipulator architecture for the production of SCARA motions. In: Proceedings of the 2000 IEEE international conference on robotics and automation, San Francisco, CA, Apr 2000Google Scholar
  11. 11.
    Getman A, Kim J, Kim T-C (2010) Imaging system having White-RGB color filter array. In: Proceedings of 2010 IEEE 17th international conference on image processing, Hong Kong, 26–29 Sept 2010Google Scholar
  12. 12.
    Farman M et al (2018) Design of three degrees of freedom robotic arm. Int J Comput Appl 179:12–17Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Shantani Sinha
    • 1
  • Santosh Kumar Suman
    • 2
  • Awadhesh Kumar
    • 2
  1. 1.Solinas Integrity Pvt. Ltd.ChennaiIndia
  2. 2.Department of Electrical EngineeringMadan Mohan Malaviya University of TechnologyGorakhpurIndia

Personalised recommendations