Glambot SNAFH-R1: Lengan Kamera 4-DOF Biaya Rendah untuk Photobooth Indoor Berbasis Pengolahan Citra

摘要

This paper presents the design and implementation of SNAFH-R1, a low-cost four-degree-of-freedom (4-DOF) glambot camera arm intended for indoor photobooth applications. The system integrates a Python-based image processing module on a laptop with an Arduino Uno R3 controller that drives three high-torque RDS3225MG servos and one MG995 servo via a PCA9685 PWM driver. A USB camera (Logitech C270) is used to capture video frames that are processed in real time using grayscale conversion, illumination enhancement, noise reduction, and human detection based on a cascade classifier. The centroid of the detected region of interest is then converted into position offsets and mapped to target joint angles, which are applied to the servos using clamped and interpolated commands to produce smooth camera motion. A BH1750 light sensor and relay-controlled LED lamp are employed to automatically stabilize local illumination around the subject. Experimental observations in an indoor photobooth scenario show that SNAFH-R1 can maintain the subject’s head and upper body within the camera frame at short to medium distances, while producing reasonably smooth camera trajectories and operating stably during short test sessions. These results indicate that the proposed system is a feasible low-cost alternative for automated glambot-style camera movements in small to medium-scale events and as a teaching platform for robotics and computer vision.