Colored object detection using 5 dof robot arm based adaptive neuro-fuzzy method
Mujiarto Mujiarto
Asari Djohar
Mumu Komaro
Mohamad Afendee Mohamed
Darmawan Setia Rahayu
W. S. Mada Sanjaya
Mustafa Mamat
Aceng Sambas
Subiyanto Subiyanto
Indonesian Journal of Electrical Engineering and Computer Science
Abstract
In this paper, an Adaptive Neuro Fuzzy Inference System (ANFIS) based on Arduino microcontroller is applied to the dynamic model of 5 DoF Robot Arm presented. MATLAB is used to detect colored objects based on image processing. Adaptive Neuro Fuzzy Inference System (ANFIS) method is a method for controlling robotic arm based on color detection of camera object and inverse kinematic model of trained data. Finally, the ANFIS algorithm is implemented in the robot arm to select objects and pick up red objects with good accuracy.
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