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ISSN Approved Journal No: 2456-3315 | Impact factor: 8.14 | ESTD Year: 2016
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Impact Factor : 8.14
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| Paper Title: | A Robot Arm Movement System Using A System Of Four Degrees Of Freedom To Transport Goods |
| Authors Name: | Muhammad Hafizd Ibnu Hajar , Julpri Andika , Adythia Rizky Taufik , Prima Wijaya Kusuma |
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IJRTI_187682
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| Published Paper Id: | IJRTI2307114 |
| Published In: | Volume 8 Issue 7, July-2023 |
| DOI: | |
| Abstract: | The use of arm robots in the industrial sector is increasing, because arm robots can work in conditions that require high accuracy and repeatedly. Application of robotic arm technology is transfer and grouping of goods. It takes the right design so that the robotic arm can move according to the desired criteria. Therefore, this study aims to design a robotic arm with 4 degrees of freedom (DOF) which is able to carry out the task of moving objects in the form of blocks automatically to storage points grouped by color. The robot consists of two systems, the image processing system and the robot drive system. In the image processing system there is a camera that is useful for getting the coordinates and color of the object. Furthermore, the coordinates of the object are used as input for inverse kinematics and the robotic drive system will calculate the inverse kinematics in the form of servo motor angle degrees at each joint of the robot arm, so that the end-effector of the robot arm can reach the intended object and move the object to a storage point according to color. The test results show that the system is able to detect red, blue, green objects and get object coordinates with a 100% success rate. The robot arm can move objects to storage points based on color with a success rate of 100% for red, 60% for blue and 100% for green. The time required from object detection until the robotic arm returns to the standby position for red color is 25,771 seconds, blue is 27,727 seconds and green is 27,063 seconds. |
| Keywords: | Robotic Arm, Inverse Kinematics, Image Processing. |
| Cite Article: | "A Robot Arm Movement System Using A System Of Four Degrees Of Freedom To Transport Goods", International Journal of Science & Engineering Development Research (www.ijrti.org), ISSN:2455-2631, Vol.8, Issue 7, page no.795 - 805, July-2023, Available :http://www.ijrti.org/papers/IJRTI2307114.pdf |
| Downloads: | 000205152 |
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2456-3315 | IMPACT FACTOR: 8.14 Calculated By Google Scholar| ESTD YEAR: 2016 An International Scholarly Open Access Journal, Peer-Reviewed, Refereed Journal Impact Factor 8.14 Calculate by Google Scholar and Semantic Scholar | AI-Powered Research Tool, Multidisciplinary, Monthly, Multilanguage Journal Indexing in All Major Database & Metadata, Citation Generator |
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Published Paper ID: IJRTI2307114
Registration ID:187682
Published In: Volume 8 Issue 7, July-2023
DOI (Digital Object Identifier):
Page No: 795 - 805 Country: South Jakarta/ Meruya Selatan, DKI Jakarta, Indonesia Research Area: Instrumentation & Control Engg. Publisher : IJ Publication Published Paper URL : https://www.ijrti.org/viewpaperforall?paper=IJRTI2307114 Published Paper PDF: https://www.ijrti.org/papers/IJRTI2307114 |
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ISSN: 2456-3315
Impact Factor: 8.14 and ISSN APPROVED,
Journal Starting Year (ESTD) : 2016
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