期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2018
卷号：9
期号：5
DOI：10.14569/IJACSA.2018.090503
出版社：Science and Information Society (SAI)
摘要：A demonstration of the application of fuzzy logic-based joint controller (FLJC) to a 6-DOF robotic arm as a color-based sorter system is presented in this study. The robotic arm with FLJC is integrated with a machine vision system that can discriminate different colors. Additionally, the machine vision system composed of Kinect camera and computer were used to extract the coordinates of the gripper and the objects within the image of the workspace. A graphical user interface with an underlying sorting algorithm allows the user to control the sorting process. Once the system is configured, the computed joint angles by FLJC are transmitted serially to the microcontroller. The results show that the absolute error of the gripper coordinates is less than 2 cm and that the machine vision is capable of achieving at least 95% accuracy in proper color discrimination both for first and second level stacked color objects.
关键词：Color-based sorter; degrees of freedom; fuzzy logic; joint controller; machine vision; robotic arm
Loading...
