Arm robot manipulator is the most applied robot to substitute human labor in industries. Due to the importance of arm robot manipulator in manufacturing lines, the robustness and effective design are essential in building an arm robot. This paper presents the controller, mechanical, and motion designs of an arm robot manipulator. The fuzzy logic controller is employed to ensure the effectiveness in detecting the target object. PID controller is designed to enhance the smooth and stability of robot motion. The simulation of how the robot move inside its workspace was conducted using RSTX toolbox in SciLab. The motion is generated by deriving Denavit-Hartenberg parameters of the mechanical design. The result shows the effective design of Fuzzy-PID controller and mechanical design of a pick and places arm robot manipulator.
Robots have infiltrated many aspects of human life up to this point, and with the term Industry 4.0, robots have even become the primary workforce in various factories. This condition necessitates that the robots collaborate without clashing. This paper discusses the application of two arm robot manipulators working alternately in sorting agricultural products. The proposed method employs simple image processing to detect the object and becomes the input to the system to control the robots. The effectiveness of the proposed method is enhanced by the application of a Fuzzy Logic Controller to smoothen robots’ joints motions. The average time required by the robot to finish their task from detecting to returning to standby position is 11.76 s for green tomatoes and 12.86 s for red tomatoes. The experimental results show that the proposed method is effective in controlling two robots to pick and place agricultural products using visual servoing.
Agriculture is a vital industry that affects the livelihoods of many people. Given the reduction in agricultural employees and the increasing strain on farmers, this sector requires convenience, which the automation system may provide. One of the automations is mobile manipulator implementation to substitute farmers. This study investigates the automatic battery charging system supported by the Fuzzy Logic Controller (FLC) to power a mobile manipulator. The application of solar charging is an ideal power source for the robot applied in the open field with high irradiance all year long. This charging system is equipped with IoT monitoring online to monitor the available power produced by solar panel and the battery capacity condition. The effectiveness of the proposed method is proven by experiments conducted for ten times charging in ten days, where the highest power produced by the panel is 1.080 W with 0.563 W charged to the battery. The highest irradiance comes with the highest surface panel temperature of 58.9OC at the irradiance rate of 1021 W/m2. The experimental results show the possibility of the solar-powered robot, which is ideal for agriculture implementation.
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