PENERAPAN METODE CANNY PADA SISTEM SORTIR BERDASARKAN BENTUK MENGGUNAKAN LENGAN MEKANIS 3 DOF

ALFITRIANSYAH, RIZKY and Yani, Irsyadi (2023) PENERAPAN METODE CANNY PADA SISTEM SORTIR BERDASARKAN BENTUK MENGGUNAKAN LENGAN MEKANIS 3 DOF. Undergraduate thesis, Sriwijaya University.

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Abstract

In the modern era, the advancement of science and technology has transformed the quality of human life and prompted industries to shift towards automation for high-quality products. Automated sorting devices play a crucial role in sorting items based on specific criteria such as size, color, texture, and type. This automated sorting system involves the use of the Arduino Uno, connected to a laptop and webcam, utilizing Canny edge detection as the identification method. Edge detection in the images aims to enhance details, sharpen text, and improve blurry images, with the Canny method. The mechanical arm, activated by servo and DC motors, is designed with 3 degrees of freedom (3 DOF) for efficient sorting object manipulation. The initial sorting phase begins with image identification from the webcam, followed by image processing using the Canny edge detection method on a laptop. Subsequently, Arduino controls the mechanical arm based on the identification results. The webcam is positioned in front of the mechanical arm with a 26° field of view, above the test object placement area, which consists of squares, circles, and triangles, each measuring 20 mm. Test results indicate a 100% success rate for the identification system, while the mechanical arm exhibits an average movement error of 21.56% for the x-position coordinate, 0% for the y-position coordinate, and 6.87% for the z-position coordinate across 150 experiments. This demonstrates the system's ability to identify objects effectively despite some errors in the mechanical arm's movements

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Sistem Sortir Otomatis, Lengan Mekanis, Deteksi Tepi
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General) > TJ213.O28 Automatic control. Control theory.
Divisions:	03-Faculty of Engineering > 21201-Mechanical Engineering (S1)
Depositing User:	Rizky Al Rizky Alfitriansyah
Date Deposited:	17 Nov 2023 01:41
Last Modified:	17 Nov 2023 01:41
URI:	http://repository.unsri.ac.id/id/eprint/130616

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