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Integration of image processing with 6-degrees-of-freedom robotic arm for advanced automation

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Wydane w:TELKOMNIKA vol. 23, no. 3 (Jun 2025), p. 758-770
1. autor: Sroymuk, Paanthong
Kolejni autorzy: Juntarakod, Paramust, Sukontanakarn, Viroch
Wydane:
Ahmad Dahlan University
Hasła przedmiotowe:
Raspberry Pi Ltd
Damage prevention
Software
Accuracy
Data processing
Systems design
Programmable logic controllers
Robots
Motion control
Automation
Image processing
Fruits
Motion planning
Robotics
Machine learning
Cameras
Stepping motors
Computer vision
Robot arms
Food processing
Process controls
Controllers
Human motion
Design
Apples
Algorithms
Object recognition
Feedback control
Human error
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Streszczenie:This paper presents the design, construction, and development of a 6degrees-of-freedom robotic arm, specifically tailored to the conditions at our university. The arm is powered by stepper motors and controlled via a programmable logic controller, while utilizing image processing data from a Raspberry Pi board. The objective of this research is to study automated pick-and-place operations, specifically targeting the handling of fruits such as oranges and apples. The system integrates advanced motion control techniques with vision-based object recognition to enable precise and reliable manipulation of the fruits. The robotic arm is equipped with an endeffector capable of handling objects with varying shapes and sizes, ensuring safe and efficient grasping and placement. Image processing algorithms are employed to identify and localize the fruits in real time, allowing the robotic arm to perform tasks in dynamic environments with minimal human intervention. Calibration, motion planning, and feedback control strategies are optimized to ensure high accuracy and prevent collisions or damage to the fruits. The system's performance is evaluated through a series of experiments that demonstrate its capability to effectively pick and place oranges and apples, making it a promising solution for applications in agricultural automation and food processing.
ISSN:1693-6930
2302-9293
DOI:10.12928/TELKOMNIKA.v2313.26617
Źródło:Advanced Technologies & Aerospace Database