A MODEL VISION OF SORTING SYSTEM APPLICATION USING ROBOTIC MANIPULATOR

Arko Djajadi, Fiona Laoda, Rusman Rusyadi, Tutuko Prajogo, Maralo Sinaga

Abstract


Image processing in today’s world grabs massive attentions as it leads to possibilities of broaden application in many fields of high technology. The real challenge is how to improve existing sorting system in the Moduler Processing System (MPS) laboratirium which consists of four integrated stations of distribution, testing, processing and handling with a new image processing feature. Existing sorting method uses a set of inductive, capacitive and optical sensors do differentiate object color. This paper presents a mechatronics color sorting system solution with the application of image processing. Supported by OpenCV, image processing procedure senses the circular objects in an image captured in realtime by a webcam and then extracts color and position information out of it. This information is passed as a sequence of sorting commands to the manipulator (Mitsubishi Movemaster RV-M1) that does pick-and-place mechanism. Extensive testing proves that this color based object sorting system works 100% accurate under ideal condition in term of adequate illumination, circular objects’ shape and color. The circular objects tested for sorting are silver, red and black. For non-ideal condition, such as unspecified color the accuracy reduces to 80%. 


Full Text:

PDF

References


. Djajadi A, Prajogo T, Sinaga M. Framework of Flexible Manufacturing System (FMS) for Education Based on Microcontrollers and Fieldbus. Journal of Mechatronics, Electrical Power and Vehicular Technology. 2010; 0(0): 19-24.

. Mitsubishi Industrial Micro-Robot System Model RV-M1. MoveMaster EX Technical Manual. Mitsubishi Electric. Corporation, Japan. 2003.

. Khojastehnazhand M, Omid M, Tabatabaeefar A. Development of a lemon sorting system based on color and size. Journal of Plant Science. 2010; 4(4): 122-127.

. Gonzales R, Woods R, Eddins S. Digital Image Processing using MATLAB. Prentice Hall. 2004.

. Russ JC. The Image Processing Handbook 5th Edition. Florida: CRC Press. 2007.

. Reijns GL, Kayser A, Arko, van Boven LE. Design and Implementation of a Picture Archiving and Communications System (PACS) based on X Window System, TCP/IP and SQL. Proceeding of SPIE Conference. New Port Beach (California). 1993: 486-495.

. Djajadi A, Rusyadi R, Handoko T, Sinaga M, Grueneberg J. Analysis, Design and Implementation of an Embedded Realtime Sound Source Localization System Based on Beamforming Theory. TELKOMNIKA. 2009; 7(3): 151-160.

. Duda OR. Technical Note 36. Use of the Hough Transformation to Detect Lines and Curves in Picture. 1971

. Rizon M. Object Detection using Circular Hough Transform. Science Publication, 2005.

. Smereka M. Circular Object Detection Using a Modified Hough Transform. Int. J. Appl. Math. Computer. Sci. 2008; 18(1): 85-91.

. Bradski G, Kaehler A. Learning OpenCV: Computer Vision with the OpenCV Library. O’Reilly Media Inc. 2008.




DOI: http://dx.doi.org/10.12928/telkomnika.v8i2.615

Article Metrics

Abstract view : 140 times
PDF - 120 times

Refbacks

  • There are currently no refbacks.


Copyright (c) 2014 Universitas Ahmad Dahlan

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

View TELKOMNIKA Stats