MINISTRY OF EDUCATION &amp TRAINING
HO CHI MINH UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT
APPLICATION OF DELTA ROBOT IN A PRODUCT
CLASSIFICATION SYSTEM APPLYING IMAGE
PROCESSING

Advisor:

Tran Manh Son, Ph.D

Students: Duong Thanh Dat
Vo Tien Dat

19151052
19151053

Major: Automation and Control Engineering Technology
Year of Admisssion: 2019 – 2023

Ho Chi Minh City, December 2023

HCMC UNIVERSITY OF

THE SOCIALIST REPUBLIC OF VIETNAM

TECHNOLOGY AND EDUCATION

Independence – Freedom – Hapiness

Falcuty of International Education

o0o

Ho Chi Minh City, December 30, 2023

GRADUATION THESIS PROJECT TASKS
Full name of student 1: Duong Thanh Dat

Student ID: 19151052

Full name of student 2: Vo Tien Dat

Student ID: 19151053

Instructor’s full name: Mr. Tran Manh Son

Contact Number: 0919 197 139

Major: Automation and Control Engineering Technology
Forms of training: Formal training
Year of Admission: 2019 – 2023
Class: 19151CLA3
Date of delivery: 05/9/2023
Task complete date: 26/12/2023
I. THESIS NAME
Application of Delta robot in a Production Classification System applying
Image Processing
II. ORIGINAL DOCUMENTS
− Documentation of PLC controller, PLC positioning control manual, Arduino
control.
− Documentation of servo motor, servo driver, step motor and driver.
− Documentation of deep learning, YOLO model for training image base on
Convolutional neural network and raw image processing using OpenCv library
in python.
III. CONTENT OF IMPLEMENTATION
− Learn the fundamental theory of hardware components.
− Enhance the hardware components for a Delta robot and address signal latency
when transmitting data from Visual Studio Code to the middleware
(KepserverEx6).
− Investigate and improve image processing techniques for detecting the center
and rotation angle of objects.

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− Improve the formulas for converting object coordinates from a camera to robot
coordinates.
− Develop code for controlling robot motors using PLC software and regulate
conveyor speed using Arduino IDE.
− Set up the connection for transmitting and receiving signals between the
conveyor belt and the PLC.
− In multiple iterations, validate and experiment with the accuracy of a Delta robot
in classifying products, specifically square and circular objects with four
different colors. Accuracy in this context encompasses the precision in gripping
the objects center and ensuring the object rotates accurate
...

...
y for achieving the highest operational speed.
• Consider replacing the button-press mechanism for speed control with a rotary
control for more precise adjustments.
• Design a remote control and monitoring system for delta robots.
• Change current objects that need to be classified into more practical objects such
as bottles, fruits, food, ...
By addressing these aspects, the project can reach greater efficiency and reliability
in real-world applications.
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References

REFERENCES
[1] H. N. Le and X. H. Le, Kinematic and Dynamic Solutions and Geometrical
Design Method for RUU Delta Robot, October 2018.
[2] TrossenRobotics. “Delta Robot Kinematics – Trossen Robotics,” Trossen Robotics
[Online]. Available: https://forums.trossenrobotics.com/tutorials/introduction129/delta-robot-kinematics-3276/
[3] V. D. Cong and L. H. Phuong, Design and development of a delta robot system to
classify objects using image processing, International Journal of Electrical and
Computer Engineering (IJECE), vol. 13, no. 3, pp. 2669-2676, June 2023.
[4] S. Öztürk and F. Kuncan, Linear Delta Robot Controlled with PLC Based On
Image Processing, Kocaeli Journal of Science and Engineering (Koc. J. Sci. Eng.),
vol. 5, no. 2, pp. 150-158, April 2022.
[5] N. N. Truong and N. T. B. Thach, Thiết kế Môhì
nh Robot Delta Ứng dụng Phân
loại Rác thải, Department of Automation Control, HCMC University of Technology
and Education, July 2023.
[6] freeCodeCamp.org. OpenCV Course – Full Tutorial with Python, YouTube.
[Online]. Available: https://www.youtube.com/watch?v=oXlwWbU8l2o
[7] Hữu Minh PLC. Các lệnh điều khiển vị trítrong PLC Mitsubishi, YouTube.
[Online]. Available: https://www.youtube.com/watch?v=zJ2QTIrNsSk
[8] Lato’s channel. “A32: cách train yolov8 custom dataset trên colab 2023 life,”
Youtube [Online]. Available: https://www.youtube.com/watch?v=a5rwtCgVWGM
[9] Addison, A. How to Convert Camera Pixels to Robot Base Frame Coordinates,
Automatic Addison. [Online]. Available: https://automaticaddison.com/how-toconvert-camera-pixels-to-robot-base-frame-coordinates/
[10] PLC247. FX5U Step Motor Control Tutorial, PLC247. [Online]. Available:
https://plc247.com/fx5u-step-motor-control-tutorial/

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Appendix

APPENDIX
System Calculation and Control Program, Control Interface, and PLC Program for
Delta robot Control:
https://drive.google.com/drive/folders/1_rHhQ9nxhv4GwIRQdg1LFCZx2WpgrFY?usp=sharing

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