This thesis presents the development of an automated object sorting system
utilizing a Fischertechnik R4 robotic arm, which is controlled via a TwinCAT
PLC. Object characteristics are identified using three sensors: a color sensor
(TCS3472), an ultrasonic distance sensor (HC-SR04), and a load cell with an
HX711 amplifier module. Based on these measurements, the system classifies
and sorts bread into four bins according to color (white or black) and weight
(light – bagel, medium – toast or rye, heavy – baguette). When a bin becomes
full, the system triggers a warning to notify the user that it must be emptied
before further operation can continue.
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