MINISTRY OF EDUCATION &amp TRAINING
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

Graduation project report
Design and Control Gantry Robot Using TwinCAT3 and
Image Processing
Students:
Vu Duc Hai

Student ID: 19151054

Tran Vu Hung

Student ID: 19151057

Major: AUTOMATION AND CONTROL ENGINEERING
Instructor: PhD. Tran Manh Son

Ho Chi Minh City, July 2023

THE SOCIALIST REPUBLIC OF VIETNAM
Independence- Freedom- Happiness
***-Ho Chi Minh city, June 1 , 2023

GRADUATION PROJECT ASSIGNMENT
Student’s name: Vu Duc Hai
Student’s name: Tran Vu Hung
Major: Automation and Control Technology
Advisor: PhD. Tran Manh Son
Date of assignment: 28/02/2022

Student’s ID number: 19151054
Student’s ID number: 19151057
Class: 19151CLA1
Phone number:
Date of submission: 28/06/2023

1. Project title: Design and Control Gantry Robot Using IPC and Image Processing
2. Initial materials provided by the advisor:
3. Content of project: Design and control Gantry Robot to classify circular products
(classified by diameters). Synchronous and interpolation position control are used to
control Gantry Robot. TwinCAT3 Motion Control is applied in this project to do the
control task. The image processing program sent the type of products to the IPC throguh
ADS. By using TwinCAT3, the connection betweem the driver, I/O module and IPC is
using EtherCAT.
4. The final results: Gantry Robot, electrical panels and thesis report.
CHAIR OF THE PROGRAM
(Sign with full name)

ADVISOR
(Sign with full name)

THE SOCIALIST REPUBLIC OF VIETNAM
Independence- Freedom- Happiness
***

Ho Chi Minh city, July 1 ,2023

ADVISOR’S EVALUATION SHEET
Student’s name: Vu Duc Hai
Student’s ID number: 19151054
Student’s name: Tran Vu Hung
Student’s ID number: 19151057
Major: Automation and Control Technology
Project title: Design and Control Gantry Robot Using IPC and Image Processing
Advisor: PhD. Tran Manh Son
EVALUATION:
1. Content of the project: ...................................................................................
2. Strengths: .......................................................................................................
3. Weaknesses:...................................................................................................
4. Approval for oral defense? (Approved or denied)
.......................................................................................................................
5. Overall
...

...
team had thought that the electrical magnet will not be trigger on time (it may
be ), but it is not happening. In the placing phase, the robot can place in the proper
position, if the load box number 1 is occupied, the robot can automatically place products
in the different load box (that have the same type). About the image processing, there might
be some error in measuring the diameter of circular product (error is under 2mm), so the
permissible error is set 3mm. Therefore, it can classify products correctly. The HMI can
display all data such as the speed of the x,y and z axis or the current position of the the
end-effector, or the number of product and the product types.
In terms of mechanical part, there is vibration in the z axis, this is because of the coupling
of x and y axis, they are not fit perfectly into the ball-screw. This problem can be solved
by afford the new coupling that suitable with the ball-screw.
Overall, the Gantry robot meets the requirements, though there are still some points need
to improve such as the HMI, enhance the algorithm to detect circular product witho the
permissible error is equal to zero.
6.2 Recommendation
 Enhance the mechanical structure to eliminate the vibration of the robot, therefore
increasing the accuracy of the model.
 Enhance the algorithm to detect circular product witho the permissible error is
equal to zero.
 The HMI can display all necessary data but still difficult to use. The live webcam
cannot merge into the HMI, any ideas to make the HMI more usable is
recommended.

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GRADUATION THESIS

ADVISOR: PhD. Tran Manh Son

REFERRENCES
[1] EtherCAT based motion controller - ROHAN KELKAR
[2] Saif, Jamil Abudhamid Mohammed &amp Hammad, Mahgoub &amp Alqubati, Ibrahim. (2016).
Gradient Based Image Edge Detection. International Journal of Engineering and
Technology. 8. 153-156. 10.7763/IJET.2016.V6.876
[3] MACHINE VISION - Ramesh Jain, Rangachar Kasturi, Brian G. Schunck
[4] https://infosys.beckhoff.com/
[5] Graduation thesis: XÂY DỰNG VÀ ĐIỀU KHIỂN MÁY CNC DÙNG G-CODE
TRONG MẠNG SSCNET, PHÂN BIỆT CÁCH THỨC GIA CÔNG SẢN PHẨM BẰNG
MÃ VẠCH. Advisor: ThS. Le Hoang Lam
[6] GANTRY ROBOT With linear motor technology. Autor: Doral Vall, Judith. Tutor:
Lahtinen, Teijo
[7] Gantry Robot Kinematic Analysis User Interface Based on Visual Basic and MATLAB
Mahir Abdelwahid Ibrahim Ismail , Mohammed Khalafalla Mohammed
[8] https://indiantechwarrior.com/canny-edge-detection-for-image-processing/

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