Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback

Abad, Alexander C.; Ligutan, Dino Dominic; Dadios, Elmer P.; Cruz, Levin Jaeron S.; Rosario, Michael Carlo D. P. Del; Kudhal, Jho Nathan Singh

doi:10.14569/ijacsa.2018.090503

Cited by 8 publications

(5 citation statements)

References 18 publications

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“…In his article, Jia does not explain the inverse kinematics mechanism used, but rather focuses on detection systems and electronic hardware. Abad [17] proposed a Fuzzy Logic Based Joint (FLJC) control system on a 6-DOF manipulator for color-based sorting applications with one camera. The main difficulty of FJLC is determining the membership function for each state and the optimal fuzzy rules for each angle of the manipulator.…”

Section: Imentioning

confidence: 99%

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Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

Agustian

Daratha

Faurina

et al. 2021

J. Elektron. dan Telekomun.

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This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based on color is carried out to observe error propagation in the implementation of manipulator on real system. The objects image captured by the digital camera were processed based on HSV-color model and the centroid coordinate of each object detected were calculated. These coordinates are end effector position target to pick each object and were placed to the right position based on its color. Based on the end effector position target, PD-PIJ inverse kinematics method was used to determine the right angle of each joint of manipulator links. The angles found by PD-PIJ is the input of DH forward kinematics. The process was repeated until the square end effector reached the target. The experiment of model and implementation to actual manipulator were analyzed using Probability Density Function (PDF) and Weibull Probability Distribution. The result shows that the manipulator navigation system had a good performance. The real implementation of color sorting task on manipulator shows the probability of success rate cm is 94.46% for euclidian distance error less than 1.2 cm.

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Section: Imentioning

confidence: 99%

“…∆ can be assumed as linear velocity EE linear and ∆ assumed as angular velocity. The linear velocity of EE is controlled with a proportional derivative (PD) control with ( 15)- (17).…”

Section: Mechanical Design and Framework Systemmentioning

confidence: 99%

Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

Agustian

Daratha

Faurina

et al. 2021

J. Elektron. dan Telekomun.

View full text Add to dashboard Cite

show abstract

“…In closed-loop dominion systems, the classical controller has been replaced by the FLC. This quantity that the IF-THEN rules and fuzzy membership functions replace the mathematical rule to experiment the system [2]. For the fuzzy logic mechanism, the signal variables are error (e) and derivative of error (de/dt), and the output Sus_def (suspension deflection) (u).…”

Section: Fuzzy Controller Designmentioning

confidence: 99%

New Tuning Approach of Fuzzy Logic System Using Proportional Integral Observer for Tracking a Nonlinear System

Jibril

2021

Preprint

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Proportional integral observer (PIO) for tracking a nonlinear method has a lower sentiency to cipher the state and output variables. So a more nonlinear controller has to be else to control to activity. In this paper, a fuzzy logic (FLC) controller has been added to the PIO to meliorate the calculation transmute. A fuzzy proportional integral observer (FPIO) for following a nonlinear system has been premeditated to decimate the susceptibleness to cipher the tell and turnout variables with the existent posit and product variables. The FPIO controller has been tested for improving the estimation control using a nonlinear quarter vehicle active suspension system with a nonlinear hydraulic actuator. A comparison simulation of the proposed nonlinear system for estimating the state variables and tracking the output (suspension deflection) with a set point bump road disturbance using FPIO and PIO. The comparison simulation result shows that the estimated state variables and system output match the actual ones perfectly using a fuzzy PIO controller.

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“…Liu proposed that robots equipped with machine vision-based manipulators could efficiently perform tasks such as logistics courier sorting and fruit picking in orchards [4]. Abad et al found through field experiments that machine vision was able to achieve at least 95% accuracy in color discrimination of stacked colored objects [5]. Nair et al found that the application of machine vision for image analysis helped in classifying flood zones and had an accuracy of 83.1% [6].…”

Section: Introductionmentioning

confidence: 99%

The Research on the Motion Control of the Sorting Manipulator based on Machine Vision

Peng¹,

Wang²

2023

IJACSA

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With the development of production technology, manipulators are gradually introduced in advanced production manufacturing industries to complete some tasks such as picking and sorting. However, the traditional manipulator has a complicated sorting process and low production efficiency. In order to improve the accuracy of sorting and reduce the labor intensity of workers, this paper studied the motion control of the sorting manipulator with machine vision. After placing four kinds of objects of different shapes on the conveyor belt, experiments were conducted on the catching and sorting process of the manipulator under different experimental environments, different conveyor belt speeds, and with or without machine vision. It was found that the overall success rate of the sorting robotic arm using machine vision for catching objects of different shapes was as high as 96%, and the sorting accuracy was as high as 97.91%. Therefore, it is concluded that the manipulator can achieve high accuracy in catching and sorting objects with the guidance of machine vision, and the adoption of machine vision has a positive impact on the motion control of the sorting manipulator.

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Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback

Cited by 8 publications

References 18 publications

Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

New Tuning Approach of Fuzzy Logic System Using Proportional Integral Observer for Tracking a Nonlinear System

The Research on the Motion Control of the Sorting Manipulator based on Machine Vision

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