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Journal : journal of robotics and control jrc

Enhanced Precision Control of a 4-DOF Robotic Arm Using Numerical Code Recognition for Automated Object Handling Sukri, Hanifudin; Ibadillah, Achmad Fiqhi; Thinakaran, Rajermani; Umam, Faikul; Dafid, Ach.; Kurniawan, Adi; Morshed, Md. Monzur; Kurniawan, Denni
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

This research develops a 4-DOF robotic arm system that utilizes numerical codes for accurate, automated object handling, supporting advancements in sustainable industrial automation aligned with the UN Sustainable Development Goals (SDGs), particularly Industry, Innovation, and Infrastructure (SDG 9). Key contributions include the integration of EasyOCR for reliable code recognition and a control mechanism that enables precise positioning. The robotic system combines a webcam for visual sensing, servo motors for movement, and a gripper for object manipulation. EasyOCR effectively recognizes numerical codes on randomly positioned objects against a uniform background while the microcontroller calculates servo angles to guide the arm accurately to target positions. Testing results show a success rate exceeding 94% for detecting codes 1 to 4, with minor servo angle errors requiring adjustments in arm extension by 30 mm to 50 mm. Positional error analysis reveals an average error of less than 1.5 degrees. Although environmental factors like lighting can influence code visibility, this approach outperforms traditional methods in adaptability and precision. Future research will focus on enhancing code recognition under variable lighting and expanding the system's adaptability for diverse object types, broadening its applications in industries demanding high efficiency.
Co-Authors Abadi, Siti Rafika Abdiansah, Abdiansah Abdul Halim Anshor Aboka, Helmi Abram Anugrahta Sitepu, Elroy Achmad Fiqhi Ibadillah Adriyanto, Andhy Tri Agus Fredy Maradona Agus Rifai, Abdul Aziz Ahlan, Mauzatul Hasanah Ahmad, Arisona Al Ma'ruf, Hidayat Alifah, Umi Alvi Syahrini Utami Ana Susiati, Ana andi hermawan Anggun Fitrian Isnawati Anisa Harumwidiah Apriliana, Candra Yuli Aquarini Priyatna Assa, Inriyati Ayu Trisna Hayati Budi Irmawati Budianto, Firman Dafid, Ach Daniyal, Moh. Darmawan, Diki Dinda Ayu Muthia Dwikinta, Made Anindya Eddy Setiawan Edi Purwanto Eko Nugroho Enri, Ultach Euis Mufahamah Faikul Umam Farabi, M.J. Al Farkhan, M. Fatmawati, Ririn Dwi Gumilang, Ahlur Roi Novanto Harkat, Avisenna Hartanto, Sugeng Haryono, Budi Ibadillah, Achmad Fiqih Ihsan, Mohamad Indriani, Wiewiek Indriawati, Anisa INDRIYANTI, IRMA SATYA Irfansyah, Raka Islami, Ratu Claudia Suwandi Isyanto Isyanto Jannan, Ahmad Muthoharul Joko Triyono Kariani, Ni Ketut Kinasih, Sekar Koenhardono, Eddy S. Kurnianto, Fahmi Arif Kurniawan, Akhmad Reinaldy Kurniawan, Denni Kusuma, Indra R. Laksono, Deni Tri Lanyumba, Hajjaria I Lestari, Eke Febi Libria Widiastuti Lubis, Arina Luthfini Maharani, Ivana Septia Manggala Wiriya Tantra Maulana, Hasan Syafik Mawabagja, Dico Medha Baskara Milly Armilya Andang, Milly Armilya Mimi, Hidayah Atta Morshed, Md. Monzur Muhamad Ridwan Mulyadien, Muhamad Khandava Natasya, Putri Wilda NUR AJIJAH, NUR Pangastuti, Era Iswara Pasau, Febri Yolanda Patriadi, Andi Pramono, Wiandi Nur Annisa Ms. Prananda, Juniarko Pratiwi, Vira Prawesti, Shafira Indah Putri, Fadillah Dwi Raihan, Muhammad Ramadhani, Andini Ratnasari Diah Utami Riyanti, Ririn Rosidi, M. Ahyar Sajiyo Sajiyo, Sajiyo Sardono Sarwito Sari, Novita Yuliana Septima, Richasanty Setyono Yudo Tyasmoro Sianturi, Reni Sukri, Hanifudin Suryani Suryani Susilawati, S Suspia, Suspia Suyatman Suyatman Tarakolo, Hernitis Silvana Teddi Muhtadin Thinakaran, Rajermani Utami, Alya Hadranita Utami, Dwiarti Rahma Utomo, Rizky Fadjri Wahyu Pamungkas Wayan, Wininda Yani, Iis Yushardi Yushardi, Yushardi Yustina Sri Ekwandari Yuwono Yuwono zulfa, Ira