MAHARASHTRA STATE BOARD OF TECHNICAL EDUCATION

GOVERNMENT POLYTECHNIC RATNAGIRI

2024-2025

A PROJECT REPORT ON:

OBJECT FOLLOWING ROBOTIC ARM USING ARDUINO

SUBMITTED TO :
“COMPUTER ENGINEERING DEPARTMENT”

UNDER THE GUIDANCE OF:

“A.A. KARKARE”

SUBMITTED BY:
➢ 3201- DINESH SANJAY BOTAGE (2100130223)
➢ 3202- ARMAN JAVED KAPTAN (2100130242)
➢ 3204- ADITYA SURESH PAWAR (2100130262)

THROUGH:
GOVERNMENT POLYTECHNIC RATNAGIRI
THE ACADEMIC YEAR: 2024-2025
 MAHARASHTRA STATE BOARD OF TEHNICAL EDUCATION

CERTIFICATION
This is to certify that Mr. Dinesh Sanjay Borage (2100130223), Mr. Arman Javed
Kaptan (210013042) and Mr. Aditya Suresh Pawar (210013062) from Government
Polytechnic, Ratnagiri (0013) institute has completed project of final year having
title Object Following Robotic Arm Using Arduino Assistant during the academic
year 2024-2025.the project completed in group consisting of 4 people under the
guidance of the faculty guide “A.A. Karkare”.

A.A.KARKARE A.A. KARKARE

(Guide Teacher) (Head of Department)

External Principal
 ACKNOWLEDGEMENT

It is with great pleasure and gratitude that we present this project report
on "Object Following Robotic Arm Using Arduino" Throughout the
journey of this project, we have received invaluable support and
guidance from several individuals, without whom this
accomplishment would not have been possible.
We wish to convey our sincere thanks and gratitude to Ms Shruti Joshi,
Ms Gauri Patne and Ms Asmita Karkare who permitted us for this
project.
I would like to extend my heartfelt thanks to Mrs. Asmita Karkare, for
her continuous encouragement and insightful suggestions that have
greatly influenced the direction and progress of this project, her keen
interest and involvement in our work have been a constant source of
motivation.
We also thankful to our friends who also help us in this project directly
and/or indirectly.
Finally, we are also thankful to our parents to their blessing with us
with success.
This project would not have been possible without the assistance,
patience, and encouragement of everyone mentioned above.

Thank you all for being a part of this journey.

 ABSTRACT

The "Object Following Robotic Arm Using Arduino" is an innovative

automation project designed to detect and follow moving objects using a
robotic arm controlled by an Arduino microcontroller. The system
combines various sensors and actuators to detect an object’s position and
adjust the robotic arm's orientation accordingly, creating a semi-
autonomous tracking mechanism. This project aims to replicate basic
human tracking behavior in robotics, offering applications in fields such
as automation, surveillance, and industrial handling systems.

The core of the project lies in integrating ultrasonic or IR sensors to detect

distance and direction, with servo motors that allow real-time movement
of the robotic arm. The Arduino board acts as the brain of the system,
interpreting sensor input and driving motor control logic. Additional
components like motor drivers, a power supply, and optional
Bluetooth/Wi-Fi modules can be included for enhanced flexibility and
wireless control.

The algorithm implemented involves constant scanning of the

environment, identifying objects within a certain range, and calculating
their relative position. Based on these readings, the servo motors adjust
their angles to ensure that the end effector of the robotic arm continues to
point towards or follow the object. Real-time responsiveness and accuracy
are ensured by optimizing the code for minimal delay and maximum
sensor sensitivity.

The system is highly scalable and can be expanded to include computer

vision through OpenCV and camera modules for advanced object
recognition and tracking. It serves as a stepping stone toward intelligent
robotic assistants capable of dynamic interaction with their environment.

Keywords: Arduino, Robotic Arm, Object Tracking, Servo Motor, Sensors,

Automation, Embedded Systems
 CONTENT

SR.NO CONTENTS PAGE NO.

1. Chapter 1: Introduction and its Importance

2. Chapter 2: Literature Survey

3. Chapter 3: Scope of the Project

4. Chapter 4: Methodology

5. Chapter 5: Details of Components and their

Working
6. Chapter 6: Code

7 Chapter 7: Conclusion and future Scope

8 Chapter 8: References and Bibliography

 Chapter 1
Introduction And
Background
1.1 Introduction

In the modern era of automation and robotics, the integration of

intelligent systems with mechanical structures has become increasingly
vital. The "Object Following Robotic Arm Using Arduino" project is a
prime example of this convergence, aiming to design and develop a
robotic arm capable of detecting and following an object in real-time.

This robotic system uses an Arduino microcontroller as its brain,

working in coordination with sensors and servo motors to track the
position of an object and adjust its movement accordingly. The primary
goal is to mimic the human ability to follow and react to motion,
creating a semi-autonomous system suitable for industrial automation,
pick-and-place operations, surveillance, and more.

The concept is based on using input from sensors (such as ultrasonic or

IR sensors) to determine the object’s position. The microcontroller
processes this data and commands the servos to move the robotic arm
to follow the object. The system can operate in a loop, ensuring that the
robotic arm consistently points toward or moves with the target object.
1.2 Importance

This project holds significant importance for several reasons:

Automation of Repetitive Tasks: In industrial settings, repetitive

object handling can be automated, improving consistency and
efficiency.

Hands-Free Object Tracking: Ideal for environments where human

intervention is limited or impractical.

Cost-Effective and Scalable: Built using affordable components like

Arduino and servo motors, making it ideal for educational and small-
scale industrial purposes.

Real-Time Response: The system can quickly adapt to changes in the

object’s position, providing dynamic interaction.

Educational Value: Helps students understand embedded systems,

real-time sensor integration, and robotic control mechanisms.

Foundation for Advanced Systems: Acts as a prototype for

developing more complex robotic systems using computer vision and
AI for advanced object recognition and tracking.

1.3 Objectives of the Project

To design a robotic arm that can autonomously detect and follow

moving objects in real-time.

To implement embedded systems (Arduino and sensors) for

accurate motion control.

To develop a low-cost prototype suitable for industrial, educational,

and automation use-cases.

To build a scalable system capable of future upgrades such as AI

and computer vision integration.

To enhance student understanding of robotics, sensors, actuators,

and embedded software development.
 Chapter 2
Literature Survey,
Problem Statement
And Identification
2.1 Literature Survey

Object tracking and robotic automation have been prominent

research areas in robotics and embedded systems. Various studies
and projects have explored the use of microcontrollers, sensors, and
actuators for developing intelligent robotic systems. Below are some
notable references:

1. Title: “Autonomous Object Tracking Robotic Arm”

Published in: International Journal of Robotics and Automation
Engineering
This paper describes a robotic arm equipped with ultrasonic sensors
and microcontroller-based control systems. It explains how real-
time object detection and servo motor coordination allow the arm to
follow objects effectively. The study highlights low-cost
components like Arduino as effective tools for prototype
development.

2. Title: “Design and Implementation of Object-Following Robot

Using IR Sensors”
Published in: International Conference on Mechatronics and
Embedded Systems
The researchers implemented IR sensors and a PID control
algorithm to maintain consistent object tracking. The study
underlines the importance of calibration and environment
adaptability in improving the performance of robotic systems.
3. Title: “Microcontroller-Based Pick and Place Robotic Arm”
This project paper shows how Arduino Uno, combined with servo
motors, can be used for basic automation tasks such as object lifting
and sorting. It shares insights into system responsiveness, cost-
efficiency, and user-friendly programming environments.

These references provide the foundational understanding necessary

for designing a system that combines real-time sensor feedback and
robotic arm motion control for object tracking.

2.2 Problem Statement

Manual object tracking and manipulation in industries, warehouses,

or labs are labor-intensive and prone to error. Traditional robotic
systems often lack dynamic response and adaptability. The need
arises for a responsive, sensor-integrated robotic arm that can
autonomously track and follow objects in real-time using low-cost
components.

Key Problems:

Lack of automation in object tracking processes.

Inability of traditional robotic arms to dynamically follow moving

targets.

High costs and complexity in industrial robotic solutions.

Need for an easy-to-program, scalable system for object

manipulation.
2.3 Finalized Solution

To address these challenges, the proposed solution involves

developing an Arduino-controlled robotic arm that follows an object
using sensor feedback (IR or ultrasonic). The Arduino processes
sensor input and dynamically adjusts the position of the servo
motors to follow the object accurately.

Features of the Proposed System:

Real-time object detection using distance-measuring sensors.

Smooth arm movement using servo motors for precise tracking.

Arduino-based control, offering simplicity and reliability.

Scalable system capable of future upgrades such as camera-based

tracking or machine learning.

This system demonstrates how basic embedded components can be

used to build intelligent robotic systems, making automation more
accessible and affordable.
2.4 Challenges in Development

Sensor Sensitivity: IR and ultrasonic sensors may produce

inconsistent results due to ambient light interference or irregular
object surfaces.

Servo Calibration: Ensuring precise motion control requires fine-

tuning PWM signals for different servo motors.

Power Management: Balancing power supply across multiple

components while avoiding voltage drops.

Environment Variability: Object detection accuracy may reduce

under varying environmental conditions like reflections or noise.

Code Optimization: Achieving real-time responsiveness while

minimizing delays in data processing and motor actuation.
 Chapter 3
Scope Of The
Project
The “Object Following Robotic Arm Using Arduino” project explores the
development of an intelligent robotic system that can autonomously track
and follow objects using sensor input and motor control. The system
demonstrates the potential of integrating embedded electronics with
mechanical design to create low-cost, real-time automation solutions.

3.1 Scope Overview

This project is designed to provide a practical demonstration of how

robotic automation can be implemented using basic hardware components
such as Arduino, ultrasonic or IR sensors, and servo motors. It aims to
showcase how real-time object detection can be translated into
mechanical motion, allowing the robotic arm to follow or point toward a
moving object.

3.2 Applications

Industrial Automation: Useful for object sorting, pick-and-place tasks,

and machine tending in factories.

Surveillance Systems: Can be programmed to follow suspicious

movements.

Educational Projects: Acts as an ideal platform for learning robotics,

electronics, and control systems.

Home Automation: Can be adapted to assist in simple household tasks

such as item retrieval or movement tracking.
3.3 Technical Scope

Sensor Integration: The system uses IR or ultrasonic sensors to detect

object position and distance.

Arduino Control: An Arduino Uno processes sensor data and sends

commands to servo motors for arm movement.

Servo Motor Operation: Multiple servo motors are used to provide

degrees of freedom to the arm for smooth, flexible motion.

Modular Design: The system can be upgraded with camera modules and
image processing algorithms (like OpenCV) for more advanced tracking.

3.4 Limitations

The system currently follows objects in a limited range and direction

based on sensor coverage.

Sensor accuracy may reduce in uneven lighting or noisy environments.

It doesn’t include AI-based object recognition or classification at this

stage.
3.5 Future Expansion Possibilities

Camera-Based Object Recognition

AI-Powered Motion Prediction

Wireless Control via Bluetooth/Wi-Fi

Integration with IoT for smart operations

 Chapter 4
Methodology
The development of the “Object Following Robotic Arm Using Arduino”
involves a structured approach that integrates mechanical components,
electronic circuits, and embedded programming. The methodology
focuses on how object detection data is processed in real time to control
the movement of a robotic arm using servo motors.

4.1 System Architecture

The system consists of three major components:

1. Sensing Module: Uses ultrasonic or IR sensors to detect the

position and distance of an object.

2. Processing Unit: An Arduino Uno board is used to read sensor data

and control actuators.

3. Actuation Unit: Comprises servo motors that move the joints of the
robotic arm to track the detected object.
4.2 Working Principle

1. The sensor continuously scans the surroundings to detect the nearest

object.

2. The sensor data (distance and direction) is processed by the Arduino

board.

3. Based on the object’s position, the Arduino calculates the required

angles for the servo motors.

4. Servo motors adjust the arm’s position accordingly to keep it

oriented toward or following the object.

5. This loop is repeated to allow continuous tracking of a moving

object.

4.3 System Workflow

1. Start-Up: The system initializes the Arduino board, sensors, and

servo motors.
 2. Object Detection: IR or ultrasonic sensors continuously scan the
surroundings to detect any object within the operational range.

3. Data Processing: Sensor data (distance and direction) is received by

the Arduino.

4. Motion Calculation: Arduino code calculates the movement angles

needed for each servo based on object position.

5. Motor Actuation: PWM signals are sent to servos to rotate the joints
of the arm.

6. Loop Execution: This loop repeats in real time, allowing continuous

adjustment of the arm as the object moves.

4.4 Tools and Components Used

Arduino Uno microcontroller

Ultrasonic Sensor (HC-SR04) or IR sensor

Servo Motors (SG90 or MG996R)

Breadboard and jumper wires

9V or 12V power supply

Arduino IDE (for coding and uploading the program)

4.5 Why We Chose Arduino for This Project

Arduino Uno was selected as the central controller for the “Object
Following Robotic Arm” project due to its balance of simplicity,
performance, and wide community support. It offers an ideal platform for
real-time sensor-based robotic applications. Key reasons include:

Ease of Use: Arduino’s straightforward programming environment and

open-source nature make it suitable for students and prototyping
automation systems.

Sufficient I/O Pins: Arduino Uno provides ample digital and analog pins
to simultaneously interface with ultrasonic sensors, IR sensors, and
multiple servo motors needed for real-time object tracking.

Real-Time Processing: The ATmega328P microcontroller efficiently

handles continuous sensor input and outputs precise PWM signals for
servo control, making it apt for dynamic robotic movements.

Low Cost: Arduino Uno is an economical option, aligning with the

project’s aim to build a scalable and budget-friendly robotic system.

Reliable Performance: The board provides consistent and stable operation

even when multiple components are connected.

Wide Community & Library Support: Extensive online resources simplify

implementation of complex features like PWM-based servo control,
ultrasonic distance measurement, and IR object detection.

4.6 Special Use of Arduino IDE

The Arduino IDE played a pivotal role in the development and testing of
the robotic arm system. It was specially used for:

Sensor Integration: Arduino IDE was used to interface ultrasonic and IR

sensors with the board for real-time object detection.

Servo Control Logic: PWM values were precisely calibrated using the
IDE to drive servo motors smoothly and accurately.
Debugging with Serial Monitor: The Serial Monitor helped visualize
sensor outputs, motor positions, and debug the tracking logic during
development.

Rapid Testing and Upload: Quick code uploads via USB allowed us to test
movement algorithms and adjust parameters on the go.

Library Utilization: Libraries such as NewPing and

Adafruit_PWMServoDriver were imported for ultrasonic sensor handling
and extended servo control, respectively.

Cross-Platform Support: The IDE’s compatibility with different operating

systems enabled development and testing on various machines during
collaborative work.
 Chapter 5
Details Of Design,
Working And
Processes
This chapter outlines the system design, working logic, and complete
operational process behind the object-following robotic arm. The project
combines mechanical structure, electronic hardware, and embedded
programming to build a low-cost automation prototype.

5.1 System Design

The design is divided into three main layers:

Mechanical Design: A robotic arm with multiple joints (usually 2–4

degrees of freedom) designed using lightweight materials like acrylic or
aluminum.

Electronic Design: Integrates sensors, servo motors, and a microcontroller

(Arduino Uno) on a breadboard or PCB.

Control Design: Software (Arduino code) is written to interpret sensor

inputs and generate appropriate servo motor movements.

5.2 Functional Workflow

1. Object Detection:
The ultrasonic (or IR) sensor emits waves to detect the presence and
distance of nearby objects.

2. Signal Processing:
The Arduino receives the signal and calculates the object’s position.

3. Angle Calculation:
Based on the object’s relative position, the Arduino determines how much
each joint of the robotic arm should move.

4. Motor Actuation:
The calculated angles are sent as PWM signals to the servo motors to
adjust the arm’s orientation.

5. Continuous Loop:
The system runs in a loop, continuously detecting object motion and
adjusting the arm accordingly.
5.3 Schematic Diagram
5.4 FlowChart
5.5.1 DFD Level 0

5.5.2 DFD Level 1

5.5.3 DFD Level 2
5.6 Use Case Diagram
5.7 ER Diagram
Chapter 6
Code
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include <NewPing.h>

Adafruit_PWMServoDriver PWM = Adafruit_PWMServoDriver();

// Ultrasonic Sensor Pins

Const int TRIGGER_PIN = A1;
Const int ECHO_PIN = A0;
Const int MAX_DISTANCE = 200;
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

// IR Sensor Pins
Const int RIGHT_IR = A2;
Const int LEFT_IR = A3;

// Servo Channels
Const int servo1 = 0; // Base
Const int servo2 = 1; // Forward/Backward
Const int servo3 = 2; // Up/Down
Const int servo4 = 3; // Gripper
// Servo Positions
Int Servo1Degree = 150;
Int Servo2Degree = 150;
Int Servo3Degree = 150;
Const int GripperClosed = 400;
Const int GripperOpen = 325;

// Gripper Timing Logic

Unsigned long gripStartTime = 0;
Unsigned long lastActionTime = 0;
Bool gripperHolding = false;
Bool gripperTriggered = false;
Bool gripperOpening = false;
Bool gripperClosing = false;

Void setup() {
Serial.begin(9600);
pinMode(RIGHT_IR, INPUT);
pinMode(LEFT_IR, INPUT);

PWM.begin();
 PWM.setPWMFreq(60);

// Set initial positions

PWM.setPWM(servo1, 0, Servo1Degree);
PWM.setPWM(servo2, 0, Servo2Degree);
PWM.setPWM(servo3, 0, Servo3Degree);
PWM.setPWM(servo4, 0, GripperOpen); // Start with gripper open

Delay(3000);
Serial.println(“System Ready”);
}

Void loop() {
Delay(100);

Unsigned int distance = sonar.ping_cm();

Int rightValue = digitalRead(RIGHT_IR);
Int leftValue = digitalRead(LEFT_IR);

Serial.print(“Distance: “);
Serial.print(distance);
Serial.print(“ cm | RIGHT IR: “);
Serial.print(rightValue);
Serial.print(“ | LEFT IR: “);
Serial.println(leftValue);

// Movement based on distance

If ((distance > 15) && (distance < 25)) {
Serial.println(“Move Forward”);
Servo2Degree += 15;
Servo2Degree = constrain(Servo2Degree, 100, 500);
PWM.setPWM(servo2, 0, Servo2Degree);

} else if ((distance > 5) && (distance < 15)) {

Serial.println(“Move Backward”);
Servo2Degree -= 15;
Servo2Degree = constrain(Servo2Degree, 100, 500);
PWM.setPWM(servo2, 0, Servo2Degree);

} else if ((distance > 25) && (distance < 35)) {

Serial.println(“Move Downward”);
Servo3Degree -= 15;
Servo3Degree = constrain(Servo3Degree, 100, 500);
PWM.setPWM(servo3, 0, Servo3Degree);
 } else if ((distance > 35) && (distance < 45)) {
Serial.println(“Move Upward”);
Servo3Degree += 15;
Servo3Degree = constrain(Servo3Degree, 100, 500);
PWM.setPWM(servo3, 0, Servo3Degree);
}

// Gripper logic using millis (open → close in 5 seconds → return to ideal

state in 5 seconds)
If ((distance > 1) && (distance <= 5)) {
If (!gripperTriggered) {
Serial.println(“Object detected — opening gripper”);
PWM.setPWM(servo4, 0, GripperOpen); // Open
gripStartTime = millis();
gripperTriggered = true;
gripperOpening = true;
lastActionTime = millis();
}
}

// Check if gripper has been open for 5 seconds

If (gripperOpening && (millis() – gripStartTime >= 5000)) {
 Serial.println(“5 seconds passed — closing gripper”);
PWM.setPWM(servo4, 0, GripperClosed); // Close the gripper
gripperOpening = false;
gripperClosing = true;
lastActionTime = millis();
}

// Check if gripper has been closed for 5 seconds

If (gripperClosing && (millis() – lastActionTime >= 5000)) {
Serial.println(“5 seconds passed — returning gripper to open
position”);
PWM.setPWM(servo4, 0, GripperOpen); // Return to ideal open
position
gripperClosing = false;
gripperHolding = false; // Reset the holding state
}

// Reset gripper when object moves away

If (distance > 5 && !gripperHolding) {
gripperTriggered = false;
}

// IR Sensor movement logic

 If (rightValue == 0 && leftValue == 0) {
Serial.println(“Obstacle both sides → Turn Right”);
Servo1Degree += 15;

} else if (rightValue == 1 && leftValue == 1) {

Serial.println(“Clear both sides → Turn Left”);
Servo1Degree -= 15;
}

Servo1Degree = constrain(Servo1Degree, 100, 500);

PWM.setPWM(servo1, 0, Servo1Degree);
}
 Chapter 7
Conclusion And
Future Scope
7.1 Conclusion

The “Object Following Robotic Arm Using Arduino” project

successfully demonstrates the integration of basic sensors, servo motors,
and a microcontroller to create a robotic system capable of tracking and
following an object in real time. By using affordable components and a
simple control algorithm, the project achieves a practical model for
object tracking automation.

The system operates in a continuous loop, where sensor data is

interpreted by an Arduino to dynamically control servo motors, allowing
the robotic arm to move in the direction of the detected object. This
implementation not only showcases a fundamental use case of robotics
and automation but also serves as a stepping stone toward more
advanced robotic systems.

Through this project, we have gained hands-on experience in embedded

systems, control logic, and the coordination between mechanical and
electronic components. The result is a scalable and customizable system
that can be further enhanced for advanced real-world applications.
7.2 Future Scope

The current system can be enhanced in several ways to increase its

accuracy, intelligence, and functionality:

Camera-Based Vision: Integrating a webcam and OpenCV for visual

tracking and object recognition.

Artificial Intelligence: Using machine learning models for gesture

detection, object classification, and predictive tracking.

Wireless Control: Adding Bluetooth or Wi-Fi modules for remote

operation through mobile or web applications.

Voice Control Integration: Using voice modules or virtual assistants for

hands-free control.

Mechanical Upgrades: Adding more degrees of freedom (DOF) for

smoother and more complex arm movements.

Industrial Deployment: Adapting the system for real-time sorting,

packaging, or inspection tasks in factories.

With these enhancements, the system can evolve from a basic prototype
to a fully autonomous, intelligent robotic platform with applications in
education, industry, and research.
 Chapter 8
References And
Bibliography
8.1 Books and Journals

1. Robotics: Control, Sensing, Vision, and Intelligence – K.S. Fu,

R.C. Gonzalez, C.S.G. Lee

2. Introduction to Mechatronics and Measurement Systems – David

G. Alciatore

3. Arduino Cookbook – Michael Margolis

4. Embedded Systems: Introduction to the MSP432 Microcontroller –

Jonathan Valvano
8.2 Research Papers

1. “Design and Implementation of Object Tracking Robot Using

Arduino and IR Sensors” – International Journal of Scientific
Research in Engineering

2. “Autonomous Object Tracking Robotic Arm” – International

Journal of Robotics and Automation Engineering

3. “Microcontroller-Based Pick and Place Robot Arm” – International

Journal of Engineering Research and Technology

8.3 Online Resources

1. Arduino Official Documentation – https://www.arduino.cc

2. HC-SR04 Sensor Tutorial – https://randomnerdtutorials.com

3. Servo Motor Control with Arduino – https://circuitdigest.com

4. Introduction to IR Sensors – https://electronicwings.com

5. Arduino Servo Library –

https://www.arduino.cc/en/Reference/Servo