Date Received: 21-12-2024 / Date Accepted: 11-07-2025 / Date Published: 31-07-2025
This study aimed to build a control algorithm for a delta robot integrated with machine vision, used in the sorting systems based on color classification. The classified products here are KitKat cakes with dimensions of 70 × 30 × 7 (mm), packaged in wrappers of various colors containing printed product information. The cakes are continuously transported on an adjustable speed conveyor belt. A fixed camera, mounted on the aluminum frame at the beginning of the conveyor, captures images of cakes, which are sent to a computer for image processing to extract color and position of cakes. This information is used for product labeling and is transmitted to the controller. The delta robot uses this data to identify, grasb and place the cake into predefined tray by color. The system uses Arduino Mega 2560 microcontroller with C++ programming language, Gcode, together with OpenCV library for image processing and Qt Designer software to design a monitoring and control interface. The average time for image processing and classifying a cake is 3.5 seconds. The proposed method helps the delta robot perform tasks even though the conveyor is still operating, thereby improving the productivity of the system.
