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

GRADUATION THESIS

DESIGNING AND MANUFACTURING A 6-DOF DELTA
ROBOT IN INDUSTRIAL APPLICATIONS AND IMAGE
PROCESSING FOR PRODUCT CLASSIFICATION

Student 1: LE MINH TRI
ID: 19151088
Student 2: NGUYEN GIA HY
ID: 19151058
Major: Automation and Control Engineering
Advisor: DANG XUAN BA, Ph.d

Ho Chi Minh City, June 30th, 2023

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THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness


Ho Chi Minh City, June 30th, 2023

GRADUATION PROJECT ASSIGNMENT
Student name: ______LE MINH TRI________ Student ID: _____19151088______________
Student name: ______NGUYEN GIA HY____ Student ID: _____19151058______________
Student name: __________________________ Student ID: ___________________
Major: Control and Automation Engineering

Class: ______19151CLA________

Advisor: _____DANG XUAN BA, Ph.d_____ Phone number: ______0945 853 990_______
Date of assignment: _____________________ Date of submission: _____________
1. Project title: ___________ Design and manufacture a 6-DOF Delta robot in industrial
applications and image processing for product classification
_________________________________________
2. Initial materials provided by the advisor: ____________________________________________
3. Content of the project:
Calculation and hardware design of a 6-DOF Delta robot model.
Researching algorithms and simulating the 6-DOF Delta robot model using Matlab
software._______________________________________________________________________
Constructing a robot using SolidWorks software.
Applying control algorithms to the physical model, implementing image processing for product
shape classification, and subsequently storing the classified products in a
warehouse.______________________________________________________________________
Designing the user interface using C# in Visual Studio Code, incorporating query and data storage
functionality using SQL Server for system login and storing the results of product
classification.____________________________________________________________________
Comments and conclusions.
4. Final product:
An experimental model of robot Delta-6 degrees of freedom/ Program control and
monitoring/Graduation project report book / CD________________________________________
CHAIR OF THE PROGRAM

ADVISOR

(Sign with full name)

(Sign with full name)

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THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness

...

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(_corners))
///
if (_coordinates.Length == 3 &amp&amp !hasFirstCentroid_triangle &amp&amp
!hasProcessedTriangle)
{
// Drawing setting for centroid of detected object
int _centroid_X = (int)_blobPoints[0].CenterOfGravity.X
166

APPENDIX
int _centroid_Y = (int)_blobPoints[0].CenterOfGravity.Y
//Drawing the centroid point of object
_g.DrawEllipse(_pen,
(float)10, (float)10)

(float)(_centroid_X),

(float)(_centroid_Y),

//Position calculation
int _pos_x = (int)_centroid_X - blobdetect_image.Size.Width
_real_x = _pos_x * ptcm
int _pos_y = blobdetect_image.Size.Height - (int)_centroid_Y
_real_y = _pos_y * ptcm
// Hiển thị giá trị tâm đầu tiên
position_txt.Text = (Position: ( + _real_x + , + _real_y + ))
// khiem tra goc lech cua vật
if (_corners != null &amp&amp _corners.Count == 3)
{
IntPoint point1 = _corners[0]
IntPoint point2 = _corners[1]
IntPoint point3 = _corners[2]
// Vẽ vector cạnh đáy của hình vuông
_g.DrawLine(redPen, point1.X, point1.Y, point3.X, point3.Y)
// Tính toán và vẽ vector phương ngang bắt đầu từ điểm đáy bên trái
IntPoint bottomLeft = _corners.OrderBy(p = p.Y).Last()
IntPoint horizontalPoint = new IntPoint(bottomLeft.X + 200,
bottomLeft.Y)
_g.DrawLine(redPen,
horizontalPoint.X, horizontalPoint.Y)

bottomLeft.X,

bottomLeft.Y,

// Tính toán độ lệch theo trục Ox
baseAngle = Math.Atan2(point3.Y - point1.Y, point3.X - point1.X) *
180 / Math.PI
absoluteAngle = Math.Abs(baseAngle)
}
// Hiển thị giá trị góc lệch
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APPENDIX
baseangle_autovalue.Text = Convert.ToString(absoluteAngle)
// Hiển thị giá trị góc xoay theta6
deviationangle = 90 - baseAngle
deviationangle_autovalue.Text = Convert.ToString(deviationangle)
// Đánh dấu đã lấy giá trị tâm đầu tiên
hasFirstCentroid_triangle = true
hasProcessedTriangle = true
//Đếm sản phẩm hình tam giác thu được
ObjectsCount++
TriangleCount++
txt_numberofobjects.Text = Convert.ToString(ObjectsCount)
txt_triobj.Text = Convert.ToString(TriangleCount)
PassObjectsCount++
txt_objpass.Text = Convert.ToString(PassObjectsCount)
//check vi tri kho
vitrikho = 91
warehouse_valueauto.Text = Convert.ToString(vitrikho)
//phần tính toán động học nghịch để di chuyển robot
Double Z1 = -68
x_position_auto.Text = Convert.ToString(_real_x)
y_position_auto.Text = Convert.ToString(_real_y)
z_position_auto.Text = Convert.ToString(Z1)
StorageTriangleObject()//dua toi vi tri luu kho và bấm thả
Sensor_Value()
}

//size of rectange
foreach (Rectangle rc in _rects)
{
///for debug
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