Fuzzy logic-controlled 6-DOF robotic arm color-based sorter with machine vision feedback
College
Gokongwei College of Engineering
Department/Unit
Electronics And Communications Engg
Document Type
Article
Source Title
International Journal of Advanced Computer Science and Applications
Volume
9
Issue
5
First Page
21
Last Page
31
Publication Date
1-1-2018
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. © 2015 The Science and Information (SAI) Organization Limited.
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Digitial Object Identifier (DOI)
10.14569/IJACSA.2018.090503
Recommended Citation
Abad, A. C., Ligutan, D. F., Dadios, E. P., Cruz, L. S., Del Rosario, M. D., & Kudhal, J. S. (2018). Fuzzy logic-controlled 6-DOF robotic arm color-based sorter with machine vision feedback. International Journal of Advanced Computer Science and Applications, 9 (5), 21-31. https://doi.org/10.14569/IJACSA.2018.090503
Disciplines
Electrical and Computer Engineering | Electrical and Electronics
Keywords
Robot hands; Computer vision; Color vision; Sorting devices
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