Implementation of fuzzy logic control in robot arm for searching location of gas leak

摘要

It is a problem for humans to search and check the source of gas leakage containing poisonous, inflammable or exploding gas. In this research, a robot arm for searching the location of gas leak has been developed. The robot arm is designed for three degrees of freedom equipped with four metal oxide gas sensors. The evaporating liquid ethanol is used as gas source to simulate the gas leakage. A fuzzy logic control system is applied to navigate the robot arm to locate the gas source. The experiment result showed that the robot arm is able to find the gas source in three different locations with accuracy is over 90% and response time is under 10 seconds.