Načrtovanje in izvedba avtomatiziranega sistema za razvrščanje objektov z uporabo PLC krmiljene robotske roke in integracije senzorjev

Radošević, Igor (author), Machidon, Octavian Mihai (mentor)

Diplomsko delo predstavlja razvoj avtomatiziranega sistema za razvrščanje objektov, ki uporablja robotsko roko Fischertechnik R4, krmiljeno s pomočjo krmilnika TwinCAT PLC. Lastnosti objekta se zaznavajo s pomočjo treh senzorjev: barvnega senzorja (TCS3472), ultrazvočnega senzorja razdalje (HCSR04) ter tehtnice z ojačevalnim modulom HX711. Na podlagi teh meritev sistem razvršča in sortira kruh v štiri različne zaboje glede na barvo (bel ali črn) in maso (lahek – bagel, srednje težek – toast ali rženi kruh, težak – bageta). Ko je določen zaboj poln, sistem sproži opozorilo, ki uporabnika obvesti, da je potrebno zaboj izprazniti za nadaljnje delovanje.

• Language: Slovenian
• Keywords: Robotska roka, Beckhoff, HMI, TwinCAT, PLC, Arduino, Python
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2025
• PID: 20.500.12556/RUL-175857
• COBISS.SI-ID: 259916547
• Publication date in RUL: 11.11.2025

Secondary language

• Language: English
• Title: Design and implementation of an automated object sorting system using PLC controlled robotic arm and sensor integration

Abstract

This thesis presents the development of an automated object sorting system utilizing a Fischertechnik R4 robotic arm, which is controlled via a TwinCAT PLC. Object characteristics are identified using three sensors: a color sensor (TCS3472), an ultrasonic distance sensor (HC-SR04), and a load cell with an HX711 amplifier module. Based on these measurements, the system classifies and sorts bread into four bins according to color (white or black) and weight (light – bagel, medium – toast or rye, heavy – baguette). When a bin becomes full, the system triggers a warning to notify the user that it must be emptied before further operation can continue.

• Keywords: Robot arm, Beckhoff, HMI, TwinCAT, PLC, Arduino, Python