MINISTRY OF EDUCATION AND TRAINING
HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY

GRADUATION THESIS
DESIGNING, CREATING PALLETIZING ROBOT
COMBINED WITH IMAGE PROCESSING
INTRUCTOR:

TS. DANG XUAN BA

STUDENTS:

NGUYEN VAN TAN

ID: 19146114

HOANG DINH THAI

ID: 19151012

CLASS:

19151CLA

YEAR:

2019 - 2023

Ho Chi Minh City, January 2024

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION

VIETNAM SOCIALIST REPUBLIC

FACULTY OF EDUCATIONAL EDUCATION

Independent - Freedom – Happiness

SUBJECT: CONTROL AND AUTOMATION

MISSION OF GRADUATION THESIS
Semester I / Year 2023 – 2024
INSTRUCTOR: TS. DANG XUAN BA
STUDENTS:
1. NGUYEN VAN TAN

Student ID: 19146104

Phone number: 0969849032

2. HOANG DINH THAI

Student ID: 19151012

Phone number: 0962450834

1. Theme code:
Name of topic: DESIGNING, CREATING PALLETIZING ROBOT COMBINED
WITH IMAGE PROCESSING
2. Original parameters and documents:
Robot arm: 4 degrees of freedom
Workspace: 200x200x267 (mm)
Lifting force: 0 - 1kg
Accuracy: 90%
3. Project contents
In this project, we focus on studying how to make and control the robot arm to pick
objects from conveyor and place them on pallet and color classification of objects. The
main contribution of this project is the communication between Raspberry PI and Arduino,
robot kinematic, informations of object from camera, controller for conveyor and operating
trajectory of robot. In addition, we also design and control the robot through the interface,
which written on Python sketch to send and receive commands from the operator.
4. Expected result
- 1 realistic model
- 1 user interface
- 1 project reported
5. Project start date: 11/9/2023
6. Project submission date: 30/12/2023
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7. Language:

Report:

English 

Vietnamese 

Project presentation:

English 

Vietnamese 

HEAD OF

PROGRAM

DEPARTMENT

COORDINATOR

INSTRUCTOR

(TRƯỞNG KHOA)

(TRƯỞNG NGÀNH)

(GIẢNG VIÊN HƯỚNG DẪN)

(Sign, write full name)

(Sign, write full name)

(Sign, write full name)

 Permitted to protect project (Được phép bảo vệ đồ án): ………………………………….
(GVHD kí, ghi rõ họ tên)

ii

COMMITMENT
- Topic: Designing, creating palletizing robot combined with image processing
- Instructor: TS Dang Xuan Ba
- Student 1: Nguyen Van Tan

ID: 19146117

- Class: 19151CLA3

Phone number: 0969849032

- Email: [email protected]
- Student 2: Hoang Dinh Thai

ID: 19151012

- Class: 19151CLA3

Phone number: 0962450834

- Email: 19151012@student.
...

...
CONCLUSION AND FUTURE DEVELOPMENT
5.1. Conclusion
After the research and implementation process, the team has successfully completed
the project with notable results. The dynamic calculations, 3D-printed hardware design, and
the creation of a unified monitoring and control interface for both robots on a single
platform have been accomplished. The system operates stably, can run continuously, and
performs automated tasks based on pre-programmed processes.
The interface, crafted using the Tkinter library for real-time monitoring and
adjustment of parameters and operational modes, has significantly increased both flexibility
and accuracy.
With the achievements obtained, the graduation project meets the requirements and
provides a practical system model that can be applied in automobile palleting missions in
plants, industrial facilities.
However, the team still faces some shortcomings in applying PID control and
uting trajectory planning on the robot for smoother operation. Additionally, there is a
need for optimization in both hardware and software design to improve communication
between devices, thereby enhancing the operational speed of both the robot and the system.
5.2. Future Development
In the future, the team suggests several directions for system improvement and
enhancement:
• Upgrade the robots degrees of freedom: Increasing the degrees of freedom will
extend the systems capabilities to perform more complex and flexible tasks.
• Develop complex trajectories: Increase the flexibility and diversity of trajectories to
meet various job requirements.
• Applying PID to directly control the conveyor belt through the camera for non-stop
conveyor and robot picking.
• Use encoders motor: Integrate encoders for each joint to improve the accuracy of the
robots control.
• Incorporate multiple robots: Enable high-coordination work by integrating multiple
robots to perform tasks collaboratively.
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REFERENCES
[1]. Huỳnh Thái Hoàng (2006), “Giáo trình Hệ thống điều khiển tự động”, Publisher:
Publisher: Nhà xuất bản Đại học quốc gia TP. Hồ Chí Minh, 421 pages.
[2]. Craig,J.J.(2005), “Introduction to Robotics: Mechanics and Control”, Publisher:
Pearson Education, 408 pages
[3]. Kaustubh Sadekar - Satya Mallick(2020), “Camera Calibration using OpenCV” ,
Website: https://learnopencv.com/camera-calibration-using-opencv/
[4]. OpenCV 4.9.0-pre Open Source Computer Vision Website:
https://docs.opencv.org/4.x/d6/d00/tutorial_py_root.html

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