Workpiece Detection and Sorting Using Distance Sensors in Robocell and Cellsetup

This paper describes a flexible cell that is used for detecting and sorting different materials by color using distance sensors in Robocell and Cellsetup softwares. Cellsetup is used to create the work environment for the robot arm, where Robocell is used to import the created 3D work environment and establish the control of the robot and peripheral devices. Peripheral devices are two gravity feeders where objects are located, two distance sensors and a conveyor device. A robot arm has six degrees of freedom while the conveyor device will represent the additional mobile axis. The process of material sorting is first picking the red object from the gravity feeder and placing it on the conveyor device, where robot is returning to the safe distance. The conveyor device is activated and moves the object to the first sensor where the color is detected. Robot picks up the object and places it on the location for red objects. Same principle is repeated for blue object where the second sensor is used to detect its color. The goal of this paper is to show an example how to control conveyor device movement using movement instructions and synchronization between conveyor device and distance sensors that are predicted to detect materials of different colors and shapes where the application can be in industrial environment for different manufacturing parts, especially in mass production.