MOTION CONTROL ANALYSIS OF TWO COLLABORATIVE ARM ROBOTS IN FRUIT PACKAGING SYSTEM

Tresna Dewi (Department of Electrical Engineering, Politeknik Negeri Sriwijaya)
Citra Anggraini (Department of Electrical Engineering, Politeknik Negeri Sriwijaya)
Pola Risma (Department of Electrical Engineering, Politeknik Negeri Sriwijaya)
Yurni Oktarina (Department of Electrical Engineering, Politeknik Negeri Sriwijaya)
Muslikhin Muslikhin (Department of Electrical Engineering, Southern Taiwan University of Science and Technology Department of Electrical Engineering Education, Universitas Negeri Yogyakarta)

Sinergi
Vol 25, No 2 (2021)

As robots' use increases in every sector of human life, the demand for cheap and efficient robots has also enlarged. The use of two or more simple robot is preferable to the use of one sophisticated robot. The agriculture industry can benefit from installing a robot, from seeding to the packaging of the product. A precise analysis is required for the installation of two collaborative robots. This paper discusses the motion control analysis of two collaborative arms robots in the fruit packaging system. The study begins with the relative motion analysis between two robots, starting with kinematics modeling, image processing for object detection, and the Fuzzy Logic Controller's design to show the relationship between the robot inputs and outputs. The analysis is carried out using SCILAB, open-source software for numerical computing engineering. This paper is intended as the initial analysis of the feasibility of the real experimental system.