Design and development of a delta robot system to classify objects using image processing

In this paper, a delta robot is designed to grasp objects in an automatic sorting system. The system consists of arm for grasping objects, belt conveyor transmitting camera mounted above the capture images and computer processing classify objects. driven by three direct current (DC) servo motors. controller implemented Arduino board Raspberry Pi 4 computer. programmed provide rotation each corresponding motor. used process according their color. An image algorithm developed blue, green, red (BGR) converted HSV color space then different thresholds are applied recognize object’s grasps put them correct position information received from Raspberry. Experimental results show that accuracy when classifying yellow 100%, green 97.5%. takes average 1.8 s sort object.