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

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Field Value
 
Title MOTION CONTROL ANALYSIS OF TWO COLLABORATIVE ARM ROBOTS IN FRUIT PACKAGING SYSTEM
 
Creator Dewi, Tresna
Anggraini, Citra
Risma, Pola
Oktarina, Yurni
Muslikhin, Muslikhin
 
Subject
Agriculture robot; Arm robot manipulator; Collaborative robot; Relative motion
 
Description 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.
 
Publisher Universitas Mercu Buana
 
Contributor
 
Date 2021-02-20
 
Type info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Peer-reviewed Article
 
Format application/pdf
 
Identifier https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/8872
10.22441/sinergi.2021.2.013
 
Source SINERGI; Vol 25, No 2 (2021); 217-226
24601217
14102331
 
Language eng
 
Relation https://publikasi.mercubuana.ac.id/index.php/sinergi/article/view/8872/4250
 
Rights Copyright (c) 2021 SINERGI
 

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