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