MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION THESIS AUTOMATIC AND CONTROL ENGINEERING TECHNOLOGY DESIGNING, CREATING PALLETIZING ROBOT COMBINED WITH IMAGE PROCESSING LECTURER: TS. DANG XUAN BA STUDENT: NGUYEN VAN TAN HOANG DINH THAI SKL012518 Ho Chi Minh City, January 2024 MINISTRY OF EDUCATION AND TRAINING HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY GRADUATION THESIS DESIGNING, CREATING PALLETIZING ROBOT COMBINED WITH IMAGE PROCESSING INTRUCTOR: TS. DANG XUAN BA STUDENTS: NGUYEN VAN TAN ID: 19146114 HOANG DINH THAI ID: 19151012 CLASS: 19151CLA YEAR: 2019 - 2023 Ho Chi Minh City, January 2024 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION VIETNAM SOCIALIST REPUBLIC FACULTY OF EDUCATIONAL EDUCATION Independent - Freedom – Happiness SUBJECT: CONTROL AND AUTOMATION MISSION OF GRADUATION THESIS Semester I / Year 2023 – 2024 INSTRUCTOR: TS. DANG XUAN BA STUDENTS: 1.
NGUYEN VAN TAN Student ID: 19146104 Phone number: 0969849032 2. HOANG DINH THAI Student ID: 19151012 Phone number: 0962450834 1. Theme code: Name of topic: DESIGNING, CREATING PALLETIZING ROBOT COMBINED WITH IMAGE PROCESSING 2. Original parameters and documents: Robot arm: 4 degrees of freedom Workspace: 200x200x267 (mm) Lifting force: 0 - 1kg Accuracy: 90% 3.
Project contents In this project, we focus on studying how to make and control the robot arm to pick objects from conveyor and place them on pallet and color classification of objects. The main contribution of this project is the communication between Raspberry PI and Arduino, robot kinematic, informations of object from camera, controller for conveyor and operating trajectory of robot. In addition, we also design and control the robot through the interface, which written on Python sketch to send and receive commands from the operator. Expected result - 1 realistic model - 1 user interface - 1 project reported 5.
Project start date: 11/9/2023 6. Project submission date: 30/12/2023 i 7. Language: Report: English Vietnamese Project presentation: English Vietnamese HEAD OF PROGRAM DEPARTMENT COORDINATOR INSTRUCTOR (TRƯỞNG KHOA) (TRƯỞNG NGÀNH) (GIẢNG VIÊN HƯỚNG DẪN) (Sign, write full name) (Sign, write full name) (Sign, write full name) Permitted to protect project (Được phép bảo vệ đồ án): …………………………………. (GVHD kí, ghi rõ họ tên) ii COMMITMENT - Topic: Designing, creating palletizing robot combined with image processing - Instructor: TS Dang Xuan Ba - Student 1: Nguyen Van Tan ID: 19146117 - Class: 19151CLA3 Phone number: 0969849032 - Email: 19146117@student.vn - Student 2: Hoang Dinh Thai ID: 19151012 - Class: 19151CLA3 Phone number: 0962450834 - Email: 19151012@student.vn - Project submission date: 30/12/2023 - Commitment: “We would like to assure that this graduation thesis is the work that we studied and carried out by ourselves.
We do not copy from a published article without citing the origin. If there is any violation, we will take all responsibility.” Ho Chi Minh City, January 2024 Sign Nguyễn Văn Tân Hoàng Đình Thái iii THANK YOU To complete this project, the team would like to send sincere thanks to: The Board of Directors of Ho Chi Minh City of University of Technology and Education and the faculty teachers of the Faculty of International Education have played a crucial role in providing the necessary facilities, machinery, and laboratories. Their support has created favorable conditions for us to acquire knowledge effectively, laying a solid foundation for the application of our skills to the project. Dang Xuan Ba for enthusiastically guides us in this project.
Ho Chi Minh City, January 2024 Students Nguyễn Văn Tân Hoàng Đình Thái iv ABSTRACT DESIGNING, CREATING PALLETIZING ROBOT COMBINED WITH IMAGE PROCESSING In this topic, my group focus mainly on researching, designing, manufacturing and controlling the Robot 4 DoFs system that pick and place products on pallet through object’s information extracted from image processing. The project includes 5 chapters: CHAPTER 1: OVERVIEW OF RESEARCH TOPIC CHAPTER 2: THEORETICAL BASIS CHAPTER 3: SYSTEM DESIGN AND CONSTRUCTION CHAPTER 4: SIMULATION AND EXPERIMENTAL RESULTS CHAPTER 5: CONCLUSION v Contents COMMITMENT. iii THANK YOU. v LIST OF TABLES.
ix LIST OF FIGURES. The urgency of the topic. The scientific and practical significance of the topic. Research objective of the topic.
Object and scope of the research. Structure of report. 5 CHAPTER 2: THEORETICAL BASIS. Deviation angle calculation.
Pick and place object process. 35 CHAPTER 3: SYSTEM DESIGN AND CONSTRUCTION. Raspberry Pi 4 Model. Servo motor SG90S.
Motor conveyor belt. Step motor connection. Servo motor connection. Air intake motor connection.
Belt conveyor motor connection. Robot mechanical parts. Vacuum pipe selection. 60 CHAPTER 4: SIMULATION AND EXPERIMENTAL RESULTS.
Kinematic simulation using Matlab. Determining robot direction. Creating a virtual robot. Simulating working space.
Robot trajectory planning. Verify the response of the PID controller. Demonstration of the actual operation during real-time execution. Checking the gripping coordinates of the object.
Checking the order distinction and continuous operation:. Point running speed. 76 CHAPTER 5: CONCLUSION AND FUTURE DEVELOPMENT. 82 viii LIST OF TABLES Table 2.1: Denavit–Hartenberg parameters table of Magician robot .1: Arduino Mega 2560 Specification .2: Stepper motor specification .3: Servo motor SG90S specification .4: Planetary GX43775 specification .5: TB6600 Driver specification .6: Relay opto specification .7: Driver XY-160D specification .9: Power supply specification.
Silicon pipe specification. The table records the experimental results of the deviation position. 71 ix LIST OF FIGURES Figure 1.1: High capacity welding robot .2: Car assembly robot .3: The number of robot purchases. Objective of the topic .1: Sequential steps of the robot .2: Coordinate system of Magician robot.
Distortion in camera with straight lines .10: Camera calibration with checkerboard. Coordinate of reference points before undistorted. Coordinate of reference points after undistorted .14: Image processing steps .15: Original image from camera .17: Convert to HSV color space .18: Morphological transformation result .19: Draw countour for object .20: Image moment method .21: The object is determined centroid. Demonstration of object's position calculation.
Robot coordinate convert .23: Robot system coordination .24: Working area on belt conveyor .25: Object coordinate order problem .26: Object order sort solution.27: Results after applying the algorithm. Result of multi-color detection .29: Convex hull algorithm .30: The angle of deviation. Describes the angle of deviation of the object being picked up. Demonstration of deviation angle calculation (1).
Demonstration of deviation calculation (2). Test objects for deviation angle correction. Robot started picking object before rotate 4th degree. First object be rotated and putted on pallet.
Second object be rotated and putted on pallet. Third object be rotated and putted on pallet .Total result of objects be rotated and putted on pallet. Controlling GUI Introduction. Main GUI screen.
Manual Control section. Auto Control section. Auto Control section (after setting position in pallet) .2: Dobot Magician Model .3: Raspberry Pi Model 4 .4: Specification of Raspberry Pi model 4 .6: Stepper motor SERVO KH42KM2R015D .7: Servo motor SG90S .8: Planetary GX43775 gear reduction motor .11: DC Motor Driver XY-160D .14: Stepper motor connection .15: SG90S motor connection .17: Belt Conveyor motor connection .26: Link 3 Rotation Bar .31: Current passes through each driver TB6600 .32: Current passes through Relay & Drok L298 .1: Verify the kinematics of the robot .5: X-Y view working space.6: X-Y-Z view working space .7: Points where robot can reach .12: Straight line from theoretical calculation.14: Orbit in space .16: Setpoint and feedback went up graduately from 0-2-4-6-8-10 reps/min. Object in conveyor is transporting to picking area.
Robot arm move to pick the object. The robot discriminates and grasps objects at gripping area. Object was lifted onto pallet, new objects moved forward. Robot moves on to grip continues until all objects are processed.
Result of robot finished placing all objects in pallet. Robot picking object base on color. Robot picking object base on color (1). Robot picking object base on color (2).
Robot finish picking object base on color.27: Moving path of Link 1 .28: Moving path of Link 2 & Link 3. 76 xiii CHAPTER 1: OVERVIEW CHAPTER 1: OVERVIEW 1. The urgency of the topic The government's well thought out policies and incentives, coupled with the benefits derived from trade agreements signed in the past two decades, have significantly contributed to Vietnam's development. The country, with its abundant and cost effective human resources, available spaces, and raw materials, has become an attractive destination for technology companies.
Many are relocating their factories to Vietnam to take advantage of these favorable conditions. In order to thrive in this competitive environment, manufacturing enterprises in the country are compelled to enhance productivity, efficiency, and reduce costs. Adopting high and new technologies is a crucial step to mitigate the impact of foreign enterprises. Among these technologies, robotic automation stands out as a key factor in enhancing performance, productivity, and improving product quality.
Despite the immense potential, the application of robots in the Vietnamese industry remains limited. This limitation is primarily due to the dependence on imported robots, influenced by warranty policies and the application of new algorithms developed by foreign engineers. To address these challenges, our team has chosen to undertake research and design a prototype robot arm that can be locally deployed, contributing to the growth and competitiveness of the domestic manufacturing sector. Robot arm designed to replace humans to perform work in industrial systems.
Robots can operate in hazardous environments, work with large loads and perform tasks continuously. Therefore, the research and design of the robot arm system is an urgent issue. The scientific and practical significance of the topic The scientific and practical significance of the topic of robot arm is of utmost importance in today's rapidly advancing technological landscape. Robot arms, also known as robotic manipulators, are mechanical devices designed to mimic and replicate human arm movements and capabilities.
These robotic arms play a vital role in various fields, including manufacturing, healthcare, space exploration, and more.1: High capacity welding robot From a scientific perspective, the development and study of robot arms contribute to the field of robotics and automation. Researchers and scientists continuously push the boundaries of what robot arms can achieve, exploring new materials, designs, and control systems. This research helps improve the understanding of robotic mechanisms, machine learning algorithms, and artificial intelligence, leading to advancements in the broader field of robotics. Furthermore, robot arms have significant practical implications across various industries.
In manufacturing, they revolutionize production processes by automating repetitive and physically demanding tasks. This leads to increased efficiency, reduced costs, and improved product quality. Robot arms can perform tasks with precision, speed, and consistency, surpassing human capabilities in many aspects. They can handle intricate assembly processes, work in hazardous environments, and operate 24/7 without the need for breaks, thus enhancing overall productivity.
2 CHAPTER 1: OVERVIEW Figure 1.2: Car assembly robot Moreover, the integration of machine learning and artificial intelligence with robot arms opens up new possibilities. By enabling robots to learn from data and adapt to different scenarios, they can become more versatile and capable of handling complex tasks autonomously. This has implications not only in industrial settings but also in areas such as search and rescue operations, disaster response, and environmental monitoring. Seeing this great potential, robots are the best solution in many countries to boost the country's economy.3: The number of robot purchases In conclusion, with many outstanding advantages such as: large load capacity, small installation area, large working space and high precision operation.
Therefore, researching, manufacturing and controlling the robot arm to take advantage of these advantages is important and practical. Research objective of the topic Control the robot to pick and arrange objects from belt conveyor to the pallet based on informations extracted from the camera. In addition, build an interface for the operator can monitor and intervene in the robot's operation process. Objective of the topic 1.
