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DOI: 10.14569/IJACSA.2018.090503
PDF

Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback

Author 1: Alexander C. Abad
Author 2: Dino Dominic Ligutan
Author 3: Elmer P. Dadios
Author 4: Levin Jaeron S. Cruz
Author 5: Michael Carlo D.P. Del Rosario
Author 6: Jho Nathan Singh Kudhal

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 9 Issue 5, 2018.

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Abstract: A demonstration of the application of fuzzy logic-based joint controller (FLJC) to a 6-DOF robotic arm as a color-based sorter system is presented in this study. The robotic arm with FLJC is integrated with a machine vision system that can discriminate different colors. Additionally, the machine vision system composed of Kinect camera and computer were used to extract the coordinates of the gripper and the objects within the image of the workspace. A graphical user interface with an underlying sorting algorithm allows the user to control the sorting process. Once the system is configured, the computed joint angles by FLJC are transmitted serially to the microcontroller. The results show that the absolute error of the gripper coordinates is less than 2 cm and that the machine vision is capable of achieving at least 95% accuracy in proper color discrimination both for first and second level stacked color objects.

Keywords: Color-based sorter; degrees of freedom; fuzzy logic; joint controller; machine vision; robotic arm

Alexander C. Abad, Dino Dominic Ligutan, Elmer P. Dadios, Levin Jaeron S. Cruz, Michael Carlo D.P. Del Rosario and Jho Nathan Singh Kudhal, “Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback” International Journal of Advanced Computer Science and Applications(IJACSA), 9(5), 2018. http://dx.doi.org/10.14569/IJACSA.2018.090503

@article{Abad2018,
title = {Fuzzy Logic-Controlled 6-DOF Robotic Arm Color-based Sorter with Machine Vision Feedback},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2018.090503},
url = {http://dx.doi.org/10.14569/IJACSA.2018.090503},
year = {2018},
publisher = {The Science and Information Organization},
volume = {9},
number = {5},
author = {Alexander C. Abad and Dino Dominic Ligutan and Elmer P. Dadios and Levin Jaeron S. Cruz and Michael Carlo D.P. Del Rosario and Jho Nathan Singh Kudhal}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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