Implementation of Motion Robot Arm Mitsubishi RV-2SDB (Palletizer) Using The Hierarchical Finite State Machine Method For Sorting Systems Based On Box Color and Shape
Keywords:
OpenCV, PLC Siemens S7-1200, AutomationAbstract
This research aims to develop an automation system for the palletizing process by integrating OpenCV and Siemens S7- 1200 PLC. The developed system uses a camera to detect the shape and color of workpieces, which are then processed by OpenCV. The processed data is sent to the Siemens S7-1200 PLC using the Snap7 Python library to control the movement of the Mitsubishi MELFA RV-2SDB robotic arm. The sorting process is conducted based on the identified shape and color of the workpieces. This system is designed to improve production efficiency with consistent results and reduce the operator's workload through automation. Testing was conducted 72 times, showing that the system can distinguish and move workpieces with an accuracy rate of 95.9% and a failure rate of 4.1%. These results demonstrate the system's ability to effectively identify and classify workpieces. The implementation of this system is xpected to make a significant contribution to the manufacturing industry, especially in the
packaging and distribution processes, by increasing efficiency, consistency, and work safety. Additionally, this research provides practical guidance for the integration of vision technology with PLC systems for robotic applications, which can serve as a reference in the development of other industrial automation systems.
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