COLOR SENSING MECHANICAL MANIPULATOR

Group Members:
• Rizwan Ayub 2016-EE-355
• Syed Shaheer 2016-EE-365
• Misha Ali 2016-EE-357
• Syed Usama 2016-EE-363

Advisor:
Sir Ibrahim
PROGRESS THROUGH THE SUMMER
VACATIONS

Literature
review
Software
tests
Hardware
Selection
 LITERATURE REVIEW

Read about the Different techniques to develop our

project
Discovered various ways to Implement image
processing techniques
Performed a cost analysis

Tried to come up with different ideas

SOFTWARE TESTS

PyCharm MATLAB
 PYCHARM

We studied the PyCharm coding

environment for image processing.

And made attempt to detect colors and

tracking that color.
 MATLAB

The use of MATLAB is for the ease of it being

useful to generate code for different kinds of
micro controllers like TIVAC and Raspberry Pi.

We studied different models for 5 dof arm in

MATLAB m-files and Simulink files to get a
better understanding of kinematics.
HARDWARE SELECTION

Servos

Robotic arm

Microcontroller
 SERVOS

Selection of servos was based on the

weight we needed to pickup. (200-250g)

After careful review and analysis we

decided on the model FEETECH High-Torque
Servo FS5115M-FB with Position Feedback.
This motor was seemed to be most suitable
for our project since it could lift normal
loads as well as play a useful role in
position control.
 ROBOTIC ARM

Keeping in view the complexity and the scope of our project we

decided to opt for a 5 dof robot.

This choice was based on the cost and efficiency of the project.

This arm also satisfied our needs for this project.

It will weighs 500-600 gm, stainless steel/aluminium and 30-40

cm in length with about 200-250 gm pay load.
 MICROCONTROLLER

In the beginning we decided to

go with Raspberry Pi as the
primary choice but after some
speculation we opted for some
extra time to make a proper
decision.
 PROJECT COMPLETED
• ABOUT 25 % PROJECT HAS BEEN COMPLETED BASED ON A ROUGH
ESTIMATE.

September Materials ordered

October Working on DH table and
kinematics while materials
received
November Assembling and Vision
December Assembling and Vision
January Assembling and Testing
February Tweaks or Changes
March Upgradation