A color-sorting SCARA robotic arm

The paper describes the development of an RGB color-sorting SCARA Robotic Arm that can distinguish color coded products in a defined workspace area and sort them according to their component color. The design utilises System-on-Chip technology to design a low cost, low time-to-market/turnaround-time color sensing solution for a robotic arm for academic purposes using the SCARA geometry as a test platform. This is achieved using a PSoC5 chip, a programmable color light-to-frequency converter and a pair of infra-red sensors. The paper covers the PSoC solution for the RGB light-to-frequency sensor network using the TCS230 module and IR sensors, the signal processing and the SCARA robotic arm construction.