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Vo. 6, No. 3, August 2021

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Autonomous Visual Servoing for Alternately Working Arm Robots

https://doi.org/10.22219/kinetik.v6i3.1285
Tresna Dewi
Politeknik Negeri Sriwijaya
http://orcid.org/0000-0003-0239-1538
Rusdianasari Rusdianasari
Politeknik Negeri Sriwijaya
RD Kusumanto
Politeknik Negeri Sriwijaya
Siproni Siproni
Politeknik Negeri Sriwijaya
Fradina Septiarini
Politeknik Negeri Sriwijaya
M. Muhajir
Politeknik Negeri Sriwijaya

Corresponding Author(s) : Tresna Dewi

tresna_dewi@polsri.ac.id

Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, Vo. 6, No. 3, August 2021

Abstract

Robots have infiltrated many aspects of human life up to this point, and with the term Industry 4.0, robots have even become the primary workforce in various factories. This condition necessitates that the robots collaborate without clashing. This paper discusses the application of two arm robot manipulators working alternately in sorting agricultural products. The proposed method employs simple image processing to detect the object and becomes the input to the system to control the robots. The effectiveness of the proposed method is enhanced by the application of a Fuzzy Logic Controller to smoothen robots’ joints motions. The average time required by the robot to finish their task from detecting to returning to standby position is 11.76 s for green tomatoes and 12.86 s for red tomatoes. The experimental results show that the proposed method is effective in controlling two robots to pick and place agricultural products using visual servoing.

Keywords

Arm robot manipulator Collaborative Robot Image Processing Visual Servoing
Dewi, T., Rusdianasari, R., Kusumanto, R., Siproni, S., Septiarini, F., & Muhajir, M. (2021). Autonomous Visual Servoing for Alternately Working Arm Robots . Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control, 6(3). https://doi.org/10.22219/kinetik.v6i3.1285
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