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

ARIWIKRI, ARIF and Dwijayanti, Suci (2024) IMPLEMENTASI LENGAN SERVICE ROBOT 5 DEGREE OF FREEDOM (DOF) MENGGUNAKAN METODE FUZZY LOGIC TYPE 2. Undergraduate thesis, Sriwijaya University.

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Abstract

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.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Service Robot, Fuzzy Logic, Fuzzy Logic Type-2, HS805-MG, Arm Robot 5 DOF
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Arif Ariwikri
Date Deposited:	18 Jul 2024 02:11
Last Modified:	18 Jul 2024 02:11
URI:	http://repository.unsri.ac.id/id/eprint/151467

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