REAL-TIME CONTROL OF A FIVE-DEGREE OF FREEDOM SERVICE ROBOT ARM USING TYPE-2 FUZZY LOGIC
Suci DWIJAYANTI, Bhakti Y. SUPRAPTO, Arif ARIWIKRI, Hera HIKMARIKA, Irmawan IRMAWAN
DOI: 10.15598/aeee.v23i3.250203
Abstract
Technology in robotics is continuously advancing, supported by developments in electronics and control systems. Consequently, robots are increasingly used to serve human needs. A critical component in the movement of a robot is the arm, which functions as the primary manipulator. However, existing methods are suboptimal for controlling robot arms, especially in object manipulation and real-time control. Therefore, this study developed a robotic arm system for a five-degree-of-freedom service robot using the type-2 fuzzy logic method, designed to perform tasks such as gripping and moving objects automatically. The type2 fuzzy logic system takes two inputs: Y-coordinates of the bounding box for object detection and depth estimation, with the output being the movement of the robot arm. Simulation results indicate that type-2 fuzzy logic with a seven-membership function performed better than type-1 fuzzy logic, achieving a steady-state error of 0,1342. In real-time testing, the service robot arm, using type-2 fuzzy logic with a seven-membership configuration, gripped and moved an empty bottle in 45 s and the filled bottle in 48 s. The robot arm successfully executed a handshake with a human in real time within 30 s. These findings validate the effectiveness of the robot arm with type-2 fuzzy logic.