Implementation 4 – DoF Arm Robot Object Sorting Controlled Based On Color Using Inverse Kinemathics Algorithm
Kunto Aji Wibisono, Haryanto Haryanto, Edi Nuralim, Riza Alfita, Rosida Vivin Nahari, Mirza Pramudia, Achmad Fiqhi Ibadillah
Kunto Aji Wibisono
Available Online December 2018.
- https://doi.org/10.2991/icst-18.2018.112How to use a DOI?
- arm robot; inverse kinematics; object sorting; Introduction
- Arm manipulator is one type of robot that is widely applied in the industrial world. Robots of this type are commonly used to help people in the hard work, dangerous or repetitive work. The needs of industrial machine in Indonesia have been increasing based on industrial development that has been increasing too in Indonesia. Some kind of industry producing a different kind of package for one product. So it needs a machine that can clarify the product based on the packaging. The purpose of this study was to design a mechanical configuration model consisting of 4 DOF arm robots and conveyors, which are used as objects separating objects based on color. A 4 DOF arm manipulator prototype designed as sorting object by color in this research. The arm manipulator’s prototype using inverse kinematics motion in determining the position of the sorted object transfer. Photodiode detector is used in order to distinguish the object based on its colors. The output of this research is to produce a 4 DOF arm manipulator prototype that can move and sort object by its color. From the experimental results of tests performed with the initial position of the robot is able to move the object from the initial coordinates to the coordinates that have been determined according to the color of the object point, the time it took an average of 9.71 s with an average error of 24.5%. In testing the sensor TCS3200 almost perfect but still a bit error due to the influence of outside light. To test the robot was very good overall level of success achieved has been 86.66%. Based on the results of testing that has been done by the robot arm 4 DOF inverse kinematic methods and trajectory planning is very effective in making the process move stuff. With the implementation of the research, it is expected that an alternative development model for industrial control system technology will be achieved by integrating arm robots and conveyor movements so that this can improve system efficiency.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Kunto Aji Wibisono AU - Haryanto Haryanto AU - Edi Nuralim AU - Riza Alfita AU - Rosida Vivin Nahari AU - Mirza Pramudia AU - Achmad Fiqhi Ibadillah PY - 2018/12 DA - 2018/12 TI - Implementation 4 – DoF Arm Robot Object Sorting Controlled Based On Color Using Inverse Kinemathics Algorithm BT - International Conference on Science and Technology (ICST 2018) PB - Atlantis Press SP - 539 EP - 544 SN - 2589-4943 UR - https://doi.org/10.2991/icst-18.2018.112 DO - https://doi.org/10.2991/icst-18.2018.112 ID - Wibisono2018/12 ER -