Đồ án tốt nghiệp - Design, implement 4-DOF robotic ARM for object identification and automated P

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

DESIGN, IMPLEMENT 4-DOF ROBOTIC ARM FOR
OBJECT IDENTIFICATION AND AUTOMATED
PAYMENT
DAO DUC VIET ANH

Student ID: 20151253

Major:
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
Supervisor: Assoc. Prof. LE MY HA, PhD.

Ho Chi Minh City, January 2025

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

DESIGN, IMPLEMENT 4-DOF ROBOTIC ARM FOR
OBJECT IDENTIFICATION AND AUTOMATED
PAYMENT
DAO DUC VIET ANH

Student ID: 20151253

Major:
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
Supervisor: Assoc. Prof. LE MY HA, PhD.

Ho Chi Minh City, January 2025

THE SOCIALIST REPUBLIC OF VIETNAM

Independence – Freedom– Happiness


Ho Chi Minh City, January 5, 2025

GRADUATION PROJECT ASSIGNMENT
Student name: Dao Duc Viet Anh

Student ID: 20151253

Major: Automation and Control Engineeing
Technology
Supervisor: Assoc. Prof. LE MY HA, PhD.

Class: 20151CLA3

Date of assignment: 05/9/2024

Date of submission: 05/01/2025

Phone number: 0938811201

1. Project title: Design, implement 4-DOF robotic arm for object identification and automated
payment
2. Initial materials provided by supervisor:
-References on robotic arm design and control system principles.
-Materials on QR code recognition technology using the ZXing library.
-Recommendations on servo motor ion and system integration.
-Guidance on trajectory planning and workspace calculations.
3. Content of the project: The project focuses on designing and implementing an intelligent 4-DOF
robotic arm capable of automating product identification and checkout processes in retail. It
includes:
-Mechanical design and fabrication of the robotic arm.
-Electrical circuit design and hardware integration.

-Development of software algorithms for robotic control, QR code recognition, and inventory
management.
-Experimental evaluation of the systems performance in real-world scenarios.

4. Final product: The complete product is a 4-DOF robotic arm system designed to assist with
payment processing and inventory management in the retail sector.
CHAIR OF THE PROGRAM

SUPERVISOR

(Sign with full name)

(Sign with full name)

THE SOCIALIST REPUBLIC OF VIETNAM

Independence – Freedom– Happiness
-

SUPERVISOR’S EVALUATION SHEET
Student name: Dao Duc Viet Anh

Student ID: 20151253

Major: Automation and Control Engineering
...

...
ended to conduct trials outside the laboratory

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Chapter 6: CONCLUSION AND RECOMMENTDATIONS
environment. This will provide valuable insights into the systems effectiveness in
practical applications.
-

Diversifying Product Handling Capabilities: Increasing the variety of products that the
robotic arm can handle is essential. This may involve integrating additional gripping
mechanisms or adaptive tools to accommodate different packaging types and shapes.

-

Integrating User Feedback: Collecting feedback from users in retail environments can
provide critical insights into the systems performance and highlight areas for
improvement. Engaging with end-users will ensure that the robotic arm meets the
practical needs of the market.

-

Exploring Advanced Algorithms: Researching advanced algorithms for kinematics,
object detection, and machine learning can enhance the robotic arms ability to learn
from its environment and improve decision-making processes over time.

By addressing these recommendations, future iterations of the robotic arm can significantly
enhance operational capabilities and contribute further to the advancement of automation in the
retail sector.

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REFERENCES
[1]

M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control. John Wiley
&amp Sons, 2020.

[2]

N. G. Hockstein, C. Gourin, R. Faust, and D. J. Terris, A history of robots: from science
fiction to surgical robotics, Journal of robotic surgery, vol. 1, pp. 113-118, 2007.

[3]

H. A. Almurib, H. F. Al-Qrimli, and N. Kumar, A review of application industrial robotic
design, in 2011 Ninth International Conference on ICT and Knowledge Engineering,
2012: IEEE, pp. 105-112.

[4]

B. Pistrui, D. Kostyal, and Z. Matyusz, Dynamic acceleration: Service robots in retail,
Cogent Business &amp Management, vol. 10, no. 3, p. 2289204, 2023.

[5]

G. Wonda, V. Amit, and S. Kumar, Analyzing Human Robotic Interaction in the Food
Industry, in Journal of physics: Conference Series, 2021, vol. 1714, no. 1, pp. 1-21.

[6]

P. Corke and P. Corke, Robot arm kinematics, Robotics, Vision and Control:
Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And
d Edition, pp. 193-228, 2017.

[7]

S. Kucuk and Z. Bingul, Robot kinematics: Forward and inverse kinematics. INTECH
Open Access Publisher London, UK, 2006.

[8]

L. Villani and G. Oriolo, Bruno Siciliano• Lorenzo Sciavicco.

[9]

J. J. Craig, Introduction to Robotics, 2005.

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