FUZZY SYSTEM AS FOUR-JOINT ROBOT MOVEMENT CONTROL FOR MOVING GOODS BASED ON TIME AND OBJECT COLOR

Abstract

Technology Disruption has driven the acceleration of the industrial era 4.0 which is based on the
speed of data-based systems and artificial intelligence. Another impact is intelligent robots as a
substitute for human performance, because humans experience fatigue and decrease accuracy
with increasing working time. Robots are an alternative whose presence cannot be avoided,
therefore the robot's work system must be improved to optimize its speed and accuracy. One of
the implementations of the robot is as a product moving machine from the initial coordinates (Pick)
to the destination coordinates (Place). This study uses a four-joint robot (4 DOF) with a product
transfer mechanism that can be adjusted based on the input priority that has been set using the
Fuzzy Logic Control (FLC) method which is implemented using an Arduino Mega 2560
microcontroller, and the robot used is Dobot Magician. There are 2 input variables used, namely
the mass of the object detected by the Weight sensor Load Cell + HX711 module and the color
of the object detected using the TCS3200 color sensor. The output variable is the movement of
the robot to the Place which can be analyzed by calculating the position matrix using the Matlab
program.