Colored object detection using 5 dof robot arm based adaptive neuro-fuzzy method

Mujiarto Mujiarto (Universitas Muhammadiyah Tasikmalaya)
Asari Djohar (Universitas Pendidikan Indonesia)
Mumu Komaro (Universitas Pendidikan Indonesia)
Mohamad Afendee Mohamed (Universiti Sultan Zainal Abidin)
Darmawan Setia Rahayu (Institut Teknologi Bandung)
W. S. Mada Sanjaya (UIN Sunan Gunung Djati Bandung)
Mustafa Mamat (Universiti Sultan Zainal Abidin)
Aceng Sambas (Universitas Muhammadiyah Tasikmalaya)
Subiyanto Subiyanto (Universitas Padjadaran)

Indonesian Journal of Electrical Engineering and Computer Science
Vol 13, No 1: January 2019

In this paper, an Adaptive Neuro Fuzzy Inference System (ANFIS) based on Arduino microcontroller is applied to the dynamic model of 5 DoF Robot Arm presented. MATLAB is used to detect colored objects based on image processing. Adaptive Neuro Fuzzy Inference System (ANFIS) method is a method for controlling robotic arm based on color detection of camera object and inverse kinematic model of trained data. Finally, the ANFIS algorithm is implemented in the robot arm to select objects and pick up red objects with good accuracy.