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All Journal Journal of Fuzzy Systems and Control (JFSC)
Nguyen-Duc-Duong Le
Ho Chi Minh City University of Technology and Engineering (HCM-UTE)
Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Development of a Vision-Based Color Sorting and Packaging System Using a 3-DOF Robotic Arm and PLC Control Kha-Vy Ngo; Hien-Dat Phan; Nguyen-Thanh-Phong Dang; Chi-Huy Lu; Quoc-Thinh Nguyen; Minh-Thang Vo; Binh-Hau Nguyen; Van-Tien Tran; Bao Pham; Long-Phi Pham; Nguyen-Duc-Duong Le; Quoc-Khanh Trinh; Tuan-Kiet Nguyen
Journal of Fuzzy Systems and Control Vol. 4 No. 2 (2026): Vol. 4 No. 2 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v4i2.391

Abstract

Automated sorting and packaging play an important role in improving manufacturing productivity while reducing manual labor. An integrated automation platform for color sorting and packaging was designed and implemented by combining a three-degree-of-freedom (3-DOF) robotic arm, machine vision, and PLC-based control. Product images were acquired by a webcam for color recognition and position estimation, while system coordination was performed by a Siemens S7 1214 PLC controlling the conveyor, robotic arm, pneumatic capping mechanism, and supervisory functions. Real-time monitoring and basic operating functions were provided through an Android application communicating via the Modbus RTU protocol. Cycle testing demonstrated a theoretical capacity of 144 items per hour based on a 25-second processing duration and a 70% success rate. Parallel task scheduling in the PLC reclaimed approximately 2.5 seconds per run by removing idle delays between actuators. The physical rig brings together camera-based detection, PLC logic, robotic handling, and pneumatic tooling on one bench. Such performance benchmarks validate the design for academic experimentation and small-scale manufacturing.
Co-Authors Bao Pham Binh-Hau Nguyen Chi-Huy Lu Hien-Dat Phan Kha-Vy Ngo Long-Phi Pham Minh-Thang Vo Nguyen-Thanh-Phong Dang Quoc-Khanh Trinh Quoc-Thinh Nguyen Tuan-Kiet Nguyen Van-Tien Tran