Design of 4 Dof Robot ARM Based on Adaptive Neuro-Fuzzy (ANFIS) using Vision in Detecting Color Objects
Trisnawan1, Aceng Sambas2, Misbahul Jannah3, Darmawan Setia Rahayu4, Mustafa Mamat5, Mohamad Afendee Mohamed6, WS Mada Sanjaya7
1Trisnawan, Department of Mechanical Engineering, Universitas Muhammadiyah Tasikmalaya, Indonesia
2Aceng Sambas, Department of Mechanical Engineering, Universitas Muhammadiyah Tasikmalaya, Indonesia
3Misbahul Jannah, Department of Electrical Engineering, Universitas Malikussaleh, Indonesia
4Darmawan Setia Rahayu, Department of Electrical Engineering, Institut Teknologi Bandung, Indonesia
5Mustafa Mamat, Department of Informatic and Computing, Universiti Sultan Zainal Abidin, Indonesia.
6Mohamad Afandee Mohamed, Department of Informatic and Computing, Universiti Sultan Zainal Abidin, Indonesia.
7WS Mada Sanjaya, Department of Physics, Universitas Islam Negri Sunan Gunung Djati Bandung, Indonesia.
Manuscript received on 03 August 2019 | Revised Manuscript received on 26 August 2019 | Manuscript Published on 05 September 2019 | PP: 224-227 | Volume-8 Issue-2S7 July 2019 | Retrieval Number: B10550782S719/2019©BEIESP | DOI: 10.35940/ijrte.B1055.0782S719
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: In this paper, the design of robot arm mechanics uses 4 servo which is then said to be 4 DOF (degree of freedom). With the Arduino microcontroller used, it will regulate the movement of the arm 4 DOF robot as a base servo, shoulder servo, hand servo and grip servo. Adaptive Neuro Fuzzy Inference System (ANFIS) was applied in this arm 4 DOF robot model in the detection of colored objects. Assisted with programming to perfect the system that is applied to the Arduino microcontroller so that it can do color detection and color object retrieval. As a result, the design of DOF arm 4 robots using vision can take colored objects precisely.
Keywords: Robot arm, Adaptive Neuro Fuzzy Inference System, Inverse Kinematic Model, Color Detection.
Scope of the Article: Fuzzy Logics