MINISTRY OF EDUCATION AND TRAINING
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
GRADUATION THESIS
MAJOR: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
DESIGN OF SUPERVISORY AND CONTROL SYSTEM
FOR PRODUCT SORTING USING A GANTRY ROBOT
INSTRUCTOR: NGO VAN THUYEN
STUDENT:
LY BAO LONG
TRINH NGUYEN ANH HAO
Ho Chi Minh city, 2025
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
INTERNATIONAL FACULTY
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
-⸙∆⸙-
GRADUATION THESIS REPORT
DESIGN OF A SUPERVISORY AND
CONTROL SYSTEM FOR PRODUCT SORTING
USING A GANTRY ROBOT
INSTRUCTOR: Associate Professor PhD. NGO VAN THUYEN
STUDENT 1:
LY BAO LONG
STUDENT ID:
20151300
CLASS:
20151CLA3
STUDENT 2:
TRINH NGUYEN ANH HAO
STUDENT ID:
20151273
CLASS:
20151CLA1
HO CHI MINH CITY, DAY MONTH, YEAR 2025
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND
EDUCATION
INTERNATIONAL FACULTY
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
-⸙∆⸙-
GRADUATION THESIS REPORT
DESIGN OF A SUPERVISORY AND
CONTROL SYSTEM FOR PRODUCT SORTING
USING A GANTRY ROBOT
INSTRUCTOR: Associate Professor PhD. NGO VAN THUYEN
STUDENT 1:
LY BAO LONG
STUDENT ID:
20151300
CLASS:
20151CLA3
STUDENT 2:
TRINH NGUYEN ANH HAO
STUDENT ID:
20151273
CLASS:
20151CLA1
HO CHI MINH CITY, DAY MONTH, YEAR 2025
THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness
-Ho Chi Minh City, January 6 , 2025
GRADUATION PROJECT ASSIGNMENT
Student name: Trinh Nguyen Anh Hao
Student ID: 20151273
Student name: Ly Bao Long
Student ID: 20151300
Major: Automation and Control Engineering Technology
Class: 20151CLA
Supervisor: Associate Professor, PhD. Ngo Van Thuyen
Date of assignment:
Date of submission:
1. Project title: Design of a supervisory and control system for product sorting using a
gantry robot
2. Initial materials provided by supervisor:
........................................................................................................................................
........................................................................................................................................
3. Content of the project:
.........................................................................................................................................
....................................................................................................................
...
...
try robot that sucks and s objects well. The robot model
frameworks smoothly and is relatively sturdy.
Stable pallet grade design conforms to the structure of the model, ensuring good
operation.
Apply photo processing to the model, which is used to classify large and small objects
and find the rotation angle for the robot to load the pallet in order.
Use HMI to observe model activity, and stacked and sorted goods.
6.2. Development directions
Finally, although the model has been built relatively successfully to meet good
operation under certain conditions, there are still problems that can be improved to
improve performance.
The first improvement is to enhance axis synchronization speed, moving from two
axes (X, Y) to four for better time optimization. Second, communication between the
two PLCs can be improved by using an native method instead of Python as an
intermediary. Third, image processing can be upgraded by using industrial cameras
instead of webcams, ensuring better recognition. Additionally, using a Raspberry Pi
4 would allow the model to operate independently, optimizing photo processing
without relying on a computer.
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REFERENCES
REFERENCES
[1] Driver EL8-EC400F at: https://www.leadshine.com/product-detail/EL8EC400F.html [Accessed 18 September 2024]
[2] Servo motor at: https://www.leadshine.com/product-detail/servomotor/servo/ELM1H-0400MA60E.html [Accessed 18 September 2024]
[3] PLC SC05 at 深圳市雷赛智能控制股份有限公司 [Accessed 20 September 2024]
[4] Principle of servo control at: https://tudonghoaatvn.com/nguyen-ly-dieu-khienservo-step/ [Accessed 5 September 2024]
[6] Interpolation formula at: https://noithattuephat.com/cong-thuc-noi-suy/
[Accessed 11 September 2024]
[7] CNC machine interpolation at: https://maycongcuatc.wixsite.com/atcmachinery/post/noi-suy-trong-may-cnc [Accessed 11 October 2024]
[8] Motor calculation at: https://www.orientalmotor.co.jp/ja/tech/calculation/sizingmotor06 [Accessed 16 November 2024]
[9] OpenCV 4.9.0-pre Open Source Computer Vision Website at:
https://docs.opencv.org/4.x/d6/d00/tutorial_py_root.html
[Accessed 12 October 2024]
[10] Siemens AG. (2016). SINAMIC G120 CU250S-2 Control Units: Installation
Instructions Siemens AG at:
https://www.kdrives.eu/public/data/documentation/G120_CU250S2_KBA1_0116
_eng_en-US.pdf. [Accessed 15 October 2024]
[11] HepcoMotion. (2011). BSP Ballscrew Premier. Available at:
https://www.hepcomotion.ru [Accessed 15 October 2024].
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