Application of Learning Vector Quantization and Trajectory Planning On a 4-DoF Robotic Arm to Move the Object
Abstract
The robotic arm is a type of statistical robot with a limited range of movement. Robotic arms are generally within the scope of Cartesian coordinates, according to the specified link length. The development of robot technology leads us to continue to upgrade soft computing. Intelligent systems in robots can improve good navigation detection systems or carry out the operator's tasks. On the other hand, using a camera is an important part of finding clear information about objects or capturing the environment around the robot. In this research, we implemented an intelligent system and computer-based camera on a 4-DoF robotic arm system. This robotic arm consists of a computer as the main processor, a microcontroller to adjust the joint angle, additional electronics, and a camera to detect objects and classify them by color. The colors used are red, green, and blue. The learning process uses these colors using Learning Vector Quantization (LVQ). The implementation of LVQ also carries out pre-processing, training, and testing stages. In the experiments that have been carried out, the robotic arm successfully navigates toward the target object and moves the object using the Trajectory Planning method. This computing process is done on a computer and connected to the robot arm's microcontroller. The experiment was carried out 60 times, and the success rate was 95%. Overall, the robot successfully picked up objects and grouped them by color.
Downloads
References
[2] R. Gunturkun, O. Hiz, and H. Sahin, “Design and Application of PLC Controlled Robotic Arm Choosing Objects According to Their Color,” Electron. Lett. Sci. Eng., vol. 16, no. 2, pp. 52–62, 2020.
[3] Sihono et al., “Robotic Arm 6 Degree of Freedom (DoF) on SCADA-based Modular Production System (MPS),” in International Conference Eco-Innovation in Science, Engineering and Technology, 2022, pp. 21–27.
[4] B. Utomo, N. Y. D. Setyaningasih, and M. Iqbal, “Kendali Robot Lengan 4 DoF Berbasis Arduino Uno dan Sensor MPU 6050,” J. SIMETRIS, vol. 11, no. 1, pp. 89–96, 2020.
[5] M. A. N. Huda, S. H. Susilo, and P. M. Adhi, “Implementation Of Inverse Kinematic And Trajectory Planning On 6-DoF Robotic Arm For Straight-Flat Welding Movement,” J. Eng. Des. Technol., vol. 22, no. 1, pp. 51–61, 2022.
[6] A. M. Abdul-Sadah, K. M. H. Raheem, and M. M. S. Altufaili, “A Fuzzy Logic Controller for A Three Links Robotic Manipulator,” in 3rd International Scientific Conference of Alkafeel University, 2021, pp. 050026–1–050026–8.
[7] B. Schabron, Z. Alashqar, N. Fuhrman, K. Jibbe, and J. Desai, “Artificial Neural Network to Detect Human Hand Gestures for a Robotic Arm Control,” in 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019, pp. 1662 – 1665.
[8] A. R. A. Ferdinandus and N. G. Sepang, “Analisis Pengaturan Robot Lengan Berbasis Computer Vision,” J. INTEK, vol. 5, no. 2, pp. 99–104, 2022.
[9] Rendyansyah, A. P. P. Prasetyo, and S. Sembiring, “Voice Command Recognition for Movement Control of a 4-DoF Robot Arm,” ELKHA J. Tek. Elektro, vol. 14, no. 2, pp. 118–124, 2022.
[10] Rendyansyah, A. P. P. Prasetyo, K. Exaudi, S. Sembiring, B. Alfaretz, and M. A. Amaria, “Pergerakan Robot Lengan Pengambil Objek Dengan Sistem Perekam Gerak Berbasis Komputer,” J. Tek. Elektro dan Vokasional, vol. 8, no. 2, pp. 230–240, 2022.
[11] Sutarno and S. Putri Fauliah, “Implementation of Learning Vector Quantization (LVQ) Algorithm for Durian Fruit Classification Using Gray Level Co-Occurrence Matrix (GLCM) Parameters,” in Journal of Physics: Conference Series, International Conference on Information System, Computer Science and Engineering 26–27 November 2018, Palembang, Indonesia, 2019, vol. 1196, no. 1, pp. 4–10, doi: 10.1088/1742-6596/1196/1/012040.
[12] P. A. Parikh, “Trajectory Planning for the Five Degree of Freedom Feeding Robot Using Septic and Nonic Functions,” Int. J. Mech. Eng. Robot. Res., vol. 9, no. 7, pp. 1043–1050, 2020.
Copyright (c) 2023 Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Copyright in each article is the property of the author.
- The author acknowledges that the Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering) has the right to publish for the first time with a Creative Commons Attribution 4.0 International License.
- The author can enter the writing separately, regulate the non-exculsive distribution of manuscripts that have been published in this journal into other versions (for example: sent to the author's institution respository, publication into books, etc.), by acknowledging that the manuscript was first published in the Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering);