CONTENTS

DECLARATION

ACKNOWLEDGEMENT

ABSTRACT

LIST OF FIGURES

LIST OF TABLES

Chapter Description Page No.

1. INTRODUCTION 01

2 .LITERATURE SURVEY 02

3.PROBLEM DEFINITION

3.1 Problem Description 06

3.2 Objectives 07

3.3 Existing System 07

3.4 Disadvantages of Existing system 07
3.5 Proposed Work 07
3.6 Hardware Requirement 08
3.7 Software Requirements 08

4. SYSTEM DESIGN AND WORKING

4.1 Working Principle of the whole System

4.1.1 Color Sensing 10
4.1.2 Identifying the color 11
 4.2 Size (Dimension) Sensing 14

4.3 Pick and Place Control

4.3.1 Inverse Kinematics Of Robotic Arm 14
4.3.2 Implementation Of Arm With Servos 15
4.3.3 Boundary Conditions For Robotic Arm 16

4.4 Hardware Components Description

4.4.1 8051 Microcontroller AT89S52 17

4.4.2 Color Sensor TCS34725FN 25

4.4.3 Rasbperry Pi A+ board 27

4.4.4 Arm Processor 1176 28

4.4.5 IR Phototransistors 29

4.4.6 Comparator Lm 324 30

4.4.7 Decade Counter CD4017 32

4.4.8 Stepper Motor 33

4.4.9 Servo motor 34

4.5 Software Description

4.5.1. Python Programming Language 35

4.5.2. Flow Charts 38

4.6 Applications 41

5. CONCLUSION AND FUTURE SCOPE 42

REFERENCES