MINISTRY OF EDUCATION AND TRAINING
Ho Chi Minh City University Of Technology And Education
Faculty of Electrical and Electronics Engineering
Department of Automatic Control


GRADUATION THESIS
TOPIC: APPLICATION OF IMAGE PROCESSING AND PCI
POSITION BOARD IN CONTROLLING A 6-DOF ROBOT
FOR DEFECTIVE MEDICINE CLASSIFICATION

Lecture

:

Mas. Le Hoang Lam

Student’s name

:

Nguyen Thien Phuc

20142245

:

Luu Dang Si

20151315

Ho Chi Minh City, December 2024

THE SOCIALIST REPUBLIC OF VIETNAM
Independence - Freedom - Happiness
Ho Chi Minh City, December ......, 2024

GRADUATION THESIS ASSIGNMENTS
Student 1s Full Name :

Nguyen Thien Phuc

Student ID

: 20142245

Student 2s Full Name :

Luu Dang Si

Student ID

: 20151315

Major: Control Engineering Technology and Automation

Major Code: 151

Education System: Regular Bachelors Degree Program

Major System: 20

I. TITLE OF THE PROJECTS: CONTROLLING ROBOT 6-DOF USING

IPC VIA PCI POSITION BOARD
II. OBJECTIVES
1. Initial figures
• Basic specifications (voltage, current, ...) of Servo Motor and Driver MR - J4
• Manufacturer specifications contec for io card PIO-32/32L.
• Mitsubishi manufacturer specifications for MR-MC210 servo motor control
card.
• Basic parameters of camera manufacturer keyence about camera CVX-290.
• Manufacturers specifications for the basic parameters of the MITSUBISHI
RV-2SD Robot.
• Gear ratios of the gearbox at the axes of the Robot MITSUBISHI RV-2SD.
• Fundamental documentation on kinematic theory, trajectory planning, and
control of Robots by author John J. Craig.
2. Implementation Content
• Establish connection and communication between Driver – Servo and

industrial computer system to control Robot.
• Formulating problems related to kinematics, trajectory planning, and the
workspace of the Robot.
• Designing and constructing mechanical assembly (design actuators for robots,
product trays and build capacitor assemblies).
• Develop problems to control the Robot to the designated cells on the work
plane.
• Set up connection and communication between Keynece camera and industrial
computer system to handle product classification problem.
• Develop problems to classify defective vials (missing seal, missing cap, wrong
batch, wrong manufacturing date).
• Developed so that users can customize the number of products to be sorted and
the desired picking position.
3. Expected products.
• Mitsubishi RV-2SD 6-degree-of-freedom Robot System (in
...

...
goal of solving the
proposed technical problems, while ensuring the systems operation is stable and
smooth.

5.1.2. Remaining Issues
•

Image Processing Algorithm Not Yet Optimized: The effectiveness of the

image processing algorithm is still influenced by environmental factors, such as
lighting and noise, leading to errors in image recognition and processing.The storage
register only allows a maximum number of 1725 positions at a time.
•

Control Algorithm Not Yet Optimized: While capable of handling basic

and complex tasks, the control algorithm still needs improvement to enhance
stability and performance.

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•

The decentralization can not be modified on HMI: The password and

username can not be modified easily via the interface.It just can be changed by the
code.
•

Medication Bottle Gripper is not concentric: During operation, the center

of the gripper is not concentric with the flange of the robot.Thus,the medication
bottle can not be rotated concentrically.This can be affected to final result of vision
system.

5.2 Future development of the project
The research topic has many limitations, hence its future development directions are
still numerous and diverse, such as:

• Build an optimal image processing program for operations: You can
build image processing programs directly on industrial computers based on
the SDK library provided by the camera company.
• Hardware Upgrades: Use higher-speed cameras and processors to improve
the image processing speed of the system.
• Development of Human Machine Interface: An Employee can program
and set up parameter on the interface.
The project believes that with these development directions, the 6-degree-of-freedom
robotic system, combined with machine vision, will continue to improve and be widely
applicable across various industries, contributing to the advancement of Vietnam’s
industrial sector.

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REFERENCES
[1]. Bruno, “Introduction to Robotics”.
[2]. Position board API library manual.
[3]. MELSERVO-J4, sscnet iii/h interface model MR-J4-_B_(-RJ) servo
amplifier instruction manual.
[4]. Mitsubishi Electronics MR-MC210 User Manual.
[5]. CV-X200Series Controller Instruction Manual.
[6]. Intuitive Vision System CV-X Series Users Manual.
[7]. Mitsubishi Industrial Robot SD Series RV-2SD/2SDB Standard Specifications
Manual.
[8]. Contec software manual .
[9]. Lê Mỹ Hà (2017), “Giáo trình Máy và hệ thống xử lý ảnh trong công
nghiệp”, Nhà xuất bản ĐHQG, Tp. HCM, Việt Nam

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