Implementasi YOLOv8 pada Sistem Pemilah Sampah Otomatis Menggunakan Lengan Robot

Abstract

The primary challenge in establishing a sustainable environment lies in the efficiency of waste management, which remains heavily dominated by manual sorting methods. Current technological developments are generally limited to passive smart bins that lack the capability to perform autonomous physical actions. Therefore, an innovative active system equipped with a robotic arm is required to execute automated picking and placing operations based on waste categories. This study designs and implements an automated waste-sorting system utilizing the YOLOv8 algorithm for real-time object detection during the picking and placing phases. The system operates through two primary integrated stages driven by visual processing. In the first stage (picking), a web camera identifies the position and material type of the waste—specifically plastic, paper, or glass—enabling the robotic arm's end-effector to grip the object precisely. In the second stage (placing), the spatial coordinates derived from the classification model direct the robotic arm to deposit the waste into the designated bin. Architecturally, image processing is executed by a Raspberry Pi 4, while the mechanical actuator controls are managed by an Arduino Mega microcontroller. Experimental results demonstrate that this vision-based, two-stage coordinated system operates with high classification accuracy and rapid responsiveness. The successful integration of these technologies overcomes the functional limitations of conventional smart bins and offers a viable solution for smart environment initiatives and industrial automation.