DUAL-STAGE IDENTIFYING DATA OF ARM ROBOT FOR RECOGNIZING AND SORTING OBJECTS WITH DOUBLE FACES PERMITTED-PROHIBITED AREA

When relocating objects to specific directions, sometimes a particular object is surrounded by another object with directions, such as a permitted-prohibited area. The arm robot functions are to identify objects in the workspace and detect permitted or prohibited areas. Then, the arm robot should be able to recognize how many objects to be relocated. In addition, the arm robot also identifies permitted-prohibited locations. In this study, a dual-stage arm robot method for object recognition and sorting with permitted/prohibited zones was examined. Furthermore, the dual-stage method was evaluated under experimental conditions, where several objects, represented by pawns, pictures of snakes, and ladders, were placed in a workspace. The first stage was to identify each object in the workspace, and the second stage identify whether there were any permitted-prohibited areas. The proposed method was evaluated by comparing the accuracy, precision, recall, and f1-score of dual-stage and single-stage methods. The results showed that the accuracy, precision, recall, and F1-score of identifying objects increased to 99.47%, 98.73%, 95.45%, and 96.86%, respectively. Then, determining the start of grabbing location and relocating the pawn to the new location were achieved successfully.