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IMPLEMENTASI LENGAN SERVICE ROBOT 5 DEGREE OF FREEDOM (DOF) MENGGUNAKAN METODE FUZZY LOGIC TYPE 2

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The technology in the field of robotics is continuously advancing, supported by developments in electronics and control systems. As a result, robots are increasingly being used to serve human needs, known as service robots. One of the critical components in a robot's movement is the arm, which acts as the robot's controller. However, previous research methods have not been optimal for controlling robot arms, especially for moving objects and implementing real-time control. Therefore, this study developed a robotic arm system for a 5 DOF service robot using the fuzzy logic Type 2 method, designed to perform tasks such as gripping and moving objects automatically. In this study, fuzzy type-2 uses two inputs: The Y coordinate of the bounding box from object detection and depth estimation, with the output being the movement of the robot arm. Simulation results show that fuzzy type 2 with 7 members performs better than fuzzy type 1, with a steady-state error of 0.1341. In real-time testing, the service robot arm using the fuzzy type-2 7-member controller can grip and move an empty bottle in 45 seconds and a filled bottle in 48 seconds. Additionally, the service robot arm can shake hands with a human in real-time, with an average time of 30 seconds. These findings demonstrate the success of the fuzzy logic type-2 method.

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Detail Information

Series Title

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Call Number

T1514672024

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2024

Collation

xv, 42 hlm.; ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

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Classification

629.892 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

-

Subject(s)

Prodi Teknik Elektro
Service Robot

Specific Detail Info

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Statement of Responsibility

KA

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