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This paper presents the design, construction, and development of a 6degrees-of-freedom robotic arm, specifically tailored to the conditions at our university. The arm is powered by stepper motors and controlled via a programmable logic controller, while utilizing image processing data from a Raspberry Pi board. The objective of this research is to study automated pick-and-place operations, specifically targeting the handling of fruits such as oranges and apples. The system integrates advanced motion control techniques with vision-based object recognition to enable precise and reliable manipulation of the fruits. The robotic arm is equipped with an endeffector capable of handling objects with varying shapes and sizes, ensuring safe and efficient grasping and placement. Image processing algorithms are employed to identify and localize the fruits in real time, allowing the robotic arm to perform tasks in dynamic environments with minimal human intervention. Calibration, motion planning, and feedback control strategies are optimized to ensure high accuracy and prevent collisions or damage to the fruits. The system's performance is evaluated through a series of experiments that demonstrate its capability to effectively pick and place oranges and apples, making it a promising solution for applications in agricultural automation and food processing.
Details
Software;
Accuracy;
Data processing;
Systems design;
Programmable logic controllers;
Robots;
Motion control;
Automation;
Image processing;
Fruits;
Motion planning;
Robotics;
Machine learning;
Cameras;
Stepping motors;
Computer vision;
Robot arms;
Food processing;
Process controls;
Controllers;
Human motion;
Design;
Apples;
Algorithms;
Object recognition;
Feedback control;
Human error