MOTION CONTROL ANALYSIS OF TWO COLLABORATIVE ARM ROBOTS IN FRUIT PACKAGING SYSTEM

Tresna Dewi, Citra Anggraini, Pola Risma, Yurni Oktarina, Muslikhin Muslikhin

Abstract


As robots' use increases in every sector of human life, the demand for cheap and efficient robots has also enlarged. The use of two or more simple robot is preferable to the use of one sophisticated robot. The agriculture industry can benefit from installing a robot, from seeding to the packaging of the product. A precise analysis is required for the installation of two collaborative robots. This paper discusses the motion control analysis of two collaborative arms robots in the fruit packaging system. The study begins with the relative motion analysis between two robots, starting with kinematics modeling, image processing for object detection, and the Fuzzy Logic Controller's design to show the relationship between the robot inputs and outputs. The analysis is carried out using SCILAB, open-source software for numerical computing engineering. This paper is intended as the initial analysis of the feasibility of the real experimental system.


Keywords


Agriculture robot; Arm robot manipulator; Collaborative robot; Relative motion

Full Text:

PDF


DOI: http://dx.doi.org/10.22441/sinergi.2021.2.013

Refbacks

  • There are currently no refbacks.


SINERGI
Fakultas Teknik Universitas Mercu Buana
Jl. Raya Meruya Selatan, Kembangan, Jakarta 11650
Tlp./Fax: +62215871335
p-ISSN: 1410-2331
e-ISSN: 2460-1217
Journal URL: http://publikasi.mercubuana.ac.id/index.php/sinergi
Journal DOI: 10.22441/sinergi

 

Creative Commons License
Journal by SINERGI is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License

View My Stats

 

The Journal is Indexed and Journal List Title by: