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All Journal The Indonesian Journal of Computer Science
Ju Ju Naing
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Computer Science & IT Electrical & Electronics Engineering Engineering

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Developing a Gantry Robot with Pre-calculated pure S-curve Motion Profiles for Delicate Egg Handling: Utilizing ESP32, FreeRTOS, and AS5600 Encoders Ju Ju Naing; Swe, War War Min; Win, Htay Htay
The Indonesian Journal of Computer Science Vol. 13 No. 2 (2024): The Indonesian Journal of Computer Science (IJCS)
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v13i2.3869

Abstract

The poultry industry faces challenges due to egg breakage during transfer. This paper describes a gantry robot specifically designed for delicate egg handling. The robot utilizes pre-calculated pure S-curve motion profiles to achieve smooth and precise movements, minimizing stress on the eggs. This approach leverages the computational efficiency of pre-calculation, making it suitable for low-power microcontrollers like the ESP32. FreeRTOS(Free Real-Time Operating System) ensures real-time task management for profile execution and data collection every 4 milliseconds from the AS5600 encoders. These encoders provide high-resolution angular position feedback, allowing for comparison with the planned S-curve profile after each movement step. This system offers advantages such as reduced egg breakage, improved transfer efficiency, and a simpler design compared to real-time control. However, limitations include limited adaptability to significant environmental changes and disturbances. Future work may investigate incorporating real-time feedback control for enhanced robustness.
Co-Authors Swe, War War Min Win, Htay Htay