Enhanced Precision Control of a 4-DOF Robotic Arm Using Numerical Code Recognition for Automated Object Handling

Authors

DOI:

https://doi.org/10.18196/jrc.v6i1.24349

Keywords:

Robotic Arm, 4-DOF, Manufacturing Innovation, EasyOCR, Numerical Code, Precision Control

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.

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2025-02-06

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[1]
H. Sukri, “Enhanced Precision Control of a 4-DOF Robotic Arm Using Numerical Code Recognition for Automated Object Handling”, J Robot Control (JRC), vol. 6, no. 1, pp. 315–335, Feb. 2025.

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Vol. 6 No. 1 (2025)

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This journal is based on the work at https://journal.umy.ac.id/index.php/jrc under license from Creative Commons Attribution-ShareAlike 4.0 International License. You are free to:

  1. Share – copy and redistribute the material in any medium or format.
  2. Adapt – remix, transform, and build upon the material for any purpose, even comercially.

The licensor cannot revoke these freedoms as long as you follow the license terms, which include the following:

  1. Attribution. You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
  2. ShareAlike. If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
  3. No additional restrictions. You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.

 

• Creative Commons Attribution-ShareAlike (CC BY-SA)

Creative Commons License
JRC is licensed under an International License