Three-link, two degree of freedom robot next to a moving conveyor

Servo-actuated gripper to pick up square blocks

Variable conveyor speed

Two infrared sensors used to determine approaching block speed and location on conveyor

Real-time current measuring to determine block weight

Encoder values were used to simulate real-time stick models of robot in MATLAB

Target angles were calculated using inverse kinematics in MATLAB and sent to robot

PID for robot control