This document describes a color fetch robot arm project using a 6-axis robot arm controlled by an Arduino. The robot arm will read a color code from the user using a color sensor and then fetch the corresponding colored object from a bin. It lists the hardware components including the robot arm, Arduino, color sensor, electromagnet. It also describes the software for initializing inputs/outputs, controlling the servo motors for different arm movements, and sensing different colors. Challenges addressed are ensuring smooth arm movement, calibrating the sensor readings for different colors, and using a 12V power source for the electromagnet.

1. CE595
Color Fetch Robot Arm

2. OBJECTIVE
Using 6 Axis robot arm
controlled by arduino to read a
color code from the user and
then fetch the correct color
object from the object bin.

3. HARDWARE
• Sainsmart 6 axis robot arm
• Arduino Uno R3
• Arduino sensor shield (6 analog I/O, 13 digital I/O)
• arduino compatible TCS3200 color sensor
• Arduino compatible power relay
• 5V electromagnet
• hexacopter plastic frame

4. http://wiki.sainsmart.com/index.php/DIY_6-Axis_Servos_Control_Palletizing_Robot_Arm_Model_for_Arduino_UNO_MEGA2560
6 axis arm
Waist (1) to Arduino A6
Lorearm (2) to Arduino A5
Forearm (3) to Arduino A4
Forearm Rotation (4) to Arduino A3
Wrist (5) to Arduino A1
Wrist Rotation (6) to Arduino A0
HARDWARE (arm control)

5. Hardware (sensor control)
VCC- Arduino 5V S0 - Arduino D3 out S2 - Arduino D6 out SenOut- D10
in
GND- Arduino GND S1 - Arduino D5 out S3 - Arduino D9 out

6. Hardware (electromagnet)
Relay power -> 5V
Relay ground -> GND
Relay interrupt -> Digital Pin 11 as Output
Relay Operation = Normally Open
Relay Common Term -> electromagnet power
Relay NO Term -> 12 Volt DC to provide more
magnetization

7. Software (I/O initalization and servo set up)

8. Software (I/O initalization and servo set up) continue

9. Software ( Motor movement sequence for diff color)

10. Software ( Motor movement sequence for diff color)

11. Software ( Motor movement sequence for diff color)

12. Software (Color Sensing module for Red)

13. Software (Color Sensing module for Blue)

14. Software (Color Sensing module for Green)

15. Software (main loop)

16. Challenge and Issue
1. Servo arm movement need using delay and speed control to ensure the smooth
operation of the robot arm
2. Light sensor input reading are representation in different number range for
different color object. Need to test and record each color’s frequency range
represntation accordingly.
3.5V power source is insufficient for electromagnet, therefore a 12V power source is
used to provide more magnetization power.
4.Power relay show be using normally open mode to provent eletro magnet over
heating