Recovering a 4-DOF SCARA robot arm integrated with machine vision for real-time product classification
Tóm tắt: 0
| 
PDF: 1 
##plugins.themes.academic_pro.article.main##
Author
Từ khóa:
Classifying
4-DOF SCARA robot arm
Image processing approach
PLC
Sorting
Tóm tắt
This study proposes a real-time automated sorting solution by integrating a recovered 4-DOF robot arm with a machine-vision algorithm. The inverse kinematic computation is integrated in a PLC to control the robot arm. A QR code–based image processing method is used to decode product information, localize target positions, and transmit coordinates to the PLC for the sorting process. Experimental results confirm the successful recovery of the robot arm, achieving average positioning errors of 0.24 mm and 0.12 mm on the X- and Y-axes, respectively. The integrated system effectively classified and sorted three types of QR-labeled product boxes with an accuracy of 93.33% and
a processing time of 16 s per product. The proposed potential solution is entirely suitable for small and medium-sized enterprises.
Tài liệu tham khảo
-
[1] P. Q. Hai, P. Q. Phat, and D. H. Quan, “Digital transformation in Vietnamese logistics enterprises,” VNU Journal of Economics and Business, vol. 3, no. 1, Feb. 2023, doi:10.57110/jebvn.v3i1.160.
[2] B. Gutelius and N. Theodore, “The Future of Warehouse Work: Technological Change in the U.S. Logistics Industry,” UC Berkeley Labor Center & Working Partnerships USA, Oct. 2019. doi: 10.13140/RG.2.2.16952.29444.
[3] M. Obosu and S. Frimpong, “Advances in automation and robotics: The state of the emerging future mining industry,” Journal of Safety and Sustainability, vol. 2, no. 3, pp. 181–194, Sep. 2025, doi: 10.1016/j.jsasus.2025.05.003.
[4] A. (Nick) Dedeke and K. T. Hung, “A simulation study of automating parcel sorting in postal industry,” International Journal of Industrial and Systems Engineering, vol. 3, no. 5, p. 515, 2008, doi: 10.1504/IJISE.2008.018230.
[5] A. V. de Oliveira, C. M. O. Pimentel, R. Godina, J. C. de O. Matias, and S. M. P. Garrido, “Improvement of the Logistics Flows in the Receiving Process of a Warehouse,” Logistics, vol. 6, no. 1, p. 22, Mar. 2022, doi: 10.3390/logistics6010022.
[6] A. Al Zadajali and A. Ullah, “The Effectiveness of Logistics Services on Firms’ Performances – A Literature Review,” American Journal of Economics and Business Innovation, vol. 3, no. 1, pp. 125–132, Apr. 2024, doi: 10.54536/ajebi.v3i1.1744.
[7] S. Rath, M. Pandey, and S. S. Rautaray, “Synergistic review of automation impact of big data, AI, and ML in current data transformative era,” F1000Res, vol. 14, p. 253, May 2025, doi: 10.12688/f1000research.161477.2.
[8] Ei Ei Wai and Phyu Zin Oo, “Implementation Of Barcode-Based Package Sortation System With Picked & Placed Robotic Arm,” International Journal for Innovative Research in Multidisciplinary Field, vol. 5, no. 7, pp. 82–91, Jul. 2019.
[9] R. U. Haq, U. Kumar, N. Kumar, Y. Barnanwal, M. Mursaleen, and N. A. Sheikh, “Design and Manufacturing of Low Cost SCARA Robot,” International Journal of Engineering Research & Technology (IJERT), vol. 10, no. 6, Oct. 2021.
[10] S. F. Noshahi, A. Farooq, M. Irfan, T. Ansar, and N. Chumuang, “Design and Fabrication of an Affordable SCARA 4-DOF Robotic Manipulator for Pick and Place Objects,” in 2019 14th International Joint Symposium on Artificial Intelligence and Natural Language Processing (iSAI-NLP), IEEE, Oct. 2019, pp. 1–5. doi: 10.1109/iSAI-NLP48611.2019.9045203.
[11] P. P. V and J. Suresh, “Integration of SCARA Robot for Pick and Place Application using PLC,” in Proceedings of the First International Conference on Combinatorial and Optimization, ICCAP 2021, December 7-8 2021, Chennai, India, EAI, 2021. doi: 10.4108/eai.7-12-2021.2314569.
[12] E. John S. Tiongson, “PLC-Controlled Coordination of Multi-Arm Robotics Without Cooperative Devices for Task Execution,” Journal of Advanced Mechanical Engineering Applications, vol. 6, no. 1, Jun. 2025, doi: 10.30880/jamea.2025.06.01.004.
[13] M. Ahamed and H. Gu, “Package sorting control system based on barcode detection,” in 2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE), IEEE, Jul. 2022, pp. 148–152. doi: 10.1109/CACRE54574.2022.9834212.
[14] S. Kucuk and Z. Bingul, “The inverse kinematics solutions of industrial robot manipulators,” in Proceedings of the IEEE International Conference on Mechatronics, 2004, pp. 274–279. doi: 10.1109/ICMECH.2004.1364451.
[15] H. Huang, A. Arogbonlo, S. Yu, L. C. Kwek, and C. P. Lim, “Trajectory tracking of a SCARA robot using intelligent active force control,” Neural Comput Appl, vol. 37, no. 19, pp. 13345–13370, Jul. 2025, doi: 10.1007/s00521-025-11200-x.
[16] CC-smart Lab, “MSD_E10 DC Servo Driver Medium Current,” Cc-smart.com, 2022. [Online]. Available: https://cc-smart.net/vi/san-pham/msde10.html [Accessed Jan 26, 2026].
[17] G. Molenaar, “Introduction Snap7 library,” Snap7 Documentation, 2023. [Online]. Available: https://python-snap7.readthedocs.io/en/1.3/API/client.html [Accessed Jan 26, 2026].
[18] L. Wang, R. Wang, H. Liu, L. Guo, W. Xu, H. Wang, H. Zhao, J. Yu, Q. Gao, and Z. Su, “Design and research of intelligent strawberry sorting robot based on machine vision technology,” Smart Agricultural Technology, vol. 13, p. 101695, 2026, doi: 10.1016/j.atech.2025.101695.
[19] Y. Lyu, A. Ping, Y. Zhang, F. Wang, C. Liu, H. Ruan, H. Jiang, and M. Zhou, “Design and evaluation of robotic seed potato sorting system based on monocular two-stage ROI-guided detection framework,” Smart Agricultural Technology, vol. 12, p. 101602, 2025, doi: 10.1016/j.atech.2025.101602.
Xem thêm
##plugins.themes.academic_pro.article.sidebar##
Đã Xuất bản
Feb 28, 2026
Download
Cách trích dẫn
Huynh, T.-H., M.-V. Huynh, T.-H. Tran, và H.-D. Nguyen. “Recovering a 4-DOF SCARA Robot Arm Integrated With Machine Vision for Real-Time Product Classification”. Tạp Chí Khoa học Và Công nghệ - Đại học Đà Nẵng, vol 24, số p.h 1, Tháng Hai 2026, tr 26-35, doi:10.31130/ud-jst.2026.24(1).711E.
