Development of a Vision-Based Color Sorting and Packaging System Using a 3-DOF Robotic Arm and PLC Control
DOI:
https://doi.org/10.59247/jfsc.v4i2.391Keywords:
Color Sorting, Siemens S7-1200 PLC, 3-DOF Robotic Arm, Machine Vision, Automated PackagingAbstract
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.
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Copyright (c) 2026 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
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