Robotic Arm Sorting System

A complete 5-DOF (Degree of Freedom) robotic arm system with computer vision capabilities for identifying, sorting, and placing objects based on color and shape.

🤖 Overview

This project implements a complete robotic arm sorting system that combines:

• Arduino-based firmware for precise servo control
• Python control software for high-level coordination
• OpenCV computer vision for real-time object detection
• Inverse kinematics for position control

The system can detect objects by color (red, green, blue, yellow) and shape (circle, square, triangle), then automatically pick and sort them into designated zones.

✨ Features

• 5-DOF robotic arm control (base, shoulder, elbow, wrist, gripper)
• Real-time object detection and classification
• Color-based sorting (red, green, blue, yellow)
• Shape-based sorting (circle, square, triangle, rectangle)
• Automated pick-and-place operations
• Interactive control mode
• Camera calibration utilities
• Configurable workspace and sorting zones

🚀 Quick Start

Installation

# Clone the repository
git clone https://github.com/varolkan/Robotic-arm-sorting-system.git
cd Robotic-arm-sorting-system

# Install Python dependencies
pip install -r requirements.txt

# Upload Arduino firmware
# Open firmware/robotic_arm/robotic_arm.ino in Arduino IDE and upload

Usage

# Interactive mode
cd software
python main.py --interactive

# Automatic sorting by color
python main.py --mode color --count 10

# Automatic sorting by shape
python main.py --mode shape --count 5

📁 Project Structure

├── firmware/robotic_arm/       # Arduino firmware for servo control
├── software/
│   ├── vision/                 # Computer vision (OpenCV)
│   ├── control/                # Robotic arm controller
│   ├── utils/                  # Utility functions
│   ├── sorting_system.py       # Main sorting logic
│   └── main.py                 # Entry point
├── config/                     # Configuration files
├── examples/                   # Test scripts
├── docs/                       # Comprehensive documentation
└── requirements.txt            # Python dependencies

🔧 Hardware Requirements

• Arduino Uno/Mega
• 5x Servo Motors (SG90 or similar)
• USB Camera (640x480+)
• Power supply (5-6V, 2A+)

📖 Documentation

For detailed documentation, see docs/README.md

Topics covered:

• Hardware setup and wiring
• Software installation
• Camera calibration
• Configuration options
• API reference
• Troubleshooting

🎯 System Workflow

1. Initialize - Connect to Arduino and camera
2. Detect - Identify objects using computer vision
3. Calculate - Determine target position using inverse kinematics
4. Pick - Move arm to object and close gripper
5. Sort - Place object in appropriate zone
6. Repeat - Continue for next object

🧪 Testing

Test individual components:

# Test vision system only
cd examples
python test_vision.py

# Test robotic arm only
python test_arm.py

🤝 Contributing

Contributions are welcome! Please feel free to submit issues and pull requests.

📄 License

This project is open source and available under the MIT License.

🙏 Acknowledgments

Built with Arduino, Python, and OpenCV. Developed as a demonstration of robotic manipulation and computer vision integration.

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Note: This is an educational project. Performance depends on hardware quality, calibration, and environmental conditions.