文章基本信息

标题：Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller
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作者：Tresna Dewi ; Siti Nurmaini ; Pola Risma 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2020
卷号：10
期号：2
页码：1376-1386
DOI：10.11591/ijece.v10i2.pp1376-1386
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：The arm robot manipulator is suitable for substituting humans working in tomato plantation to ensure tomatoes are handled efficiently. The best design for this robot is four links with robust flexibility in x, y, and z-coordinates axis. Inverse kinematics and fuzzy logic controller (FLC) application are for precise and smooth motion. Inverse kinematics designs the most efficient position and motion of the arm robot by adjusting mechanical parameters. The FLC utilizes data input from the sensors to set the right position and motion of the end-effector. The predicted parameters are compared with experimental results to show the effectiveness of the proposed design and method. The position errors (in x, y, and z-axis) are 0.1%, 0.1%, and 0.04%. The rotation errors of each robot links (θ1, θ2, and θ3) are 0%, 0.7% and 0.3%. The FLC provides the suitable angle of the servo motor (θ4) responsible in gripper motion, and the experimental results correspond to FLC’s rules-based as the input to the gripper motion system. This setup is essential to avoid excessive force or miss-placed position that can damage tomatoes. The arm robot manipulator discussed in this study is a pick and place robot to move the harvested tomatoes to a packing system.
关键词：degree of freedom;forward kinematicsl inverse kinematics;fuzzy logic controller;