Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

Dewi, Tresna; Nurmaini, Siti; Risma, Pola; Oktarina, Yurni; Roriz, Muhammad

doi:10.11591/ijece.v10i2.pp1376-1386

Cited by 35 publications

(22 citation statements)

References 22 publications

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“…However, there are no excellent universal algorithms for producing the forward and inverse kinematic of a robot arm, especially finding the correlation between both kinematic models. The problem involves an error in achieving an accurate correlation between the forward and the inverse kinematic of a robot arm [1], [2], [3], [4], [5], [6], [7], [8], [9]. To plan an accurate robot arm's movement, we have to understand the relationship between the forward and inverse kinematic of the actuators to control the robot's resulting position in an accurate manner.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis for Trajectory Planning of Open-Source 4-DoF Robot Arm

Ting¹,

Zaman²,

Ibrahim³

et al. 2021

IJACSA

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Many small and large industries use robot arms to establish a range of tasks such as picking and placing, and painting in today's world. However, to complete these tasks, one of the most critical problems is to obtain the desire position of the robot arm's end-effector. There are two methods for analyzing the robot arm: forward kinematic analysis and inverse kinematic analysis. This study aims to model the forward and inverse kinematic of an open-source 4 degrees of freedom (DoF) articulated robotic arm. A kinematic model is designed and further evaluated all the joint parameters to calculate the endeffector's desired position. Forward kinematic is simple to design, but as for the inverse kinematic, a closed-form solution is needed. The developed kinematic model's performance is assessed on a simulated robot arm, and the results were analyzed if the errors were produced within the accepted range. At the end of this study, forward kinematic and inverse kinematic solutions of a 4-DoF articulated robot arm are successfully modeled, which provides the theoretical basis for the subsequent analysis and research of the robot arm.

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Section: Introductionmentioning

confidence: 99%

Kinematic Analysis for Trajectory Planning of Open-Source 4-DoF Robot Arm

Ting¹,

Zaman²,

Ibrahim³

et al. 2021

IJACSA

View full text Add to dashboard Cite

show abstract

“…The original general test equipment typically makes use of ARM or perhaps singlechip microcomputer because of the model and its particular math running ability will be gradual, as well as the energetic packing handle ability will be not enough [13][14][15][16][17][18][19][20][21][22][23][24][25][26]. For this finish, we created the common screening device depending on FPGA.…”

Section: Introductionmentioning

confidence: 99%

Position and speed optimization of servo motor control through FPGA

Ajel

Abbas

Mnati

2021

IJECE

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We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment’s hardware as well as a software program that supplies an answer for that style associated with the servo control system. This particular document utilizes the actual PID control formula to manage the actual common screening device to attain versatile as well as precise control reasons. The actual equipment execution from the PID control formula is put in place through FPGA; precise as well as effective control program is built to enhance the speed and performance of the servomotor through FPGA.

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“…Process automation is an area that robotics today has revolutionized, so that robots of different types such as anthropomorphic [1] or parallel structure [2] are used in industrial tasks, such as collecting and relocating objects [3]. A fundamental part of robotic agents' use in automatic systems is the need for machine vision systems, employed for navigation tasks [4] or elements of interest detection [5].…”

Section: Introductionmentioning

confidence: 99%

Robotic hex-nut sorting system with deep learning

Almanza

Baquero

Moreno

2021

IJECE

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<span>This article exposes the design and implementation of an automation system based on a robotic arm for hex-nut classification, using pattern recognition and image processing. The robotic arm work based on three servo motors and an electromagnetic end effector. The pattern recognition implemented allows classifying three different types of hex-nut through deep learning algorithms based on convolutional neural network architectures. The proposed methodology exposes four phases: the first is the design, implementation, and control of a robotic arm. The second is the capture, classification, and image treatment; the third allows gripping the nut through the robot’s inverse kinematic. The final phase is the re-localization of the hex-nut in the respective container. The automation system successfully classifies all the types of hex-nuts, where the convolutional network used is an efficient and recent pattern recognition method, with an accuracy of 100% in 150 iterations. This development allows for obtaining a novel algorithm for robotic applications in hex-nut sorting.</span>

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Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

Cited by 35 publications

References 22 publications

Kinematic Analysis for Trajectory Planning of Open-Source 4-DoF Robot Arm

Kinematic Analysis for Trajectory Planning of Open-Source 4-DoF Robot Arm

Position and speed optimization of servo motor control through FPGA

Robotic hex-nut sorting system with deep learning

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