Design of 4 Dof Robot ARM Based on Adaptive Neuro-Fuzzy (ANFIS) using Vision in Detecting Color Objects

摘要

In this paper, the design of robot arm mechanics uses 4 servo which is then said to be 4 DOF (degree of freedom). With the Arduino microcontroller used, it will regulate the movement of the arm 4 DOF robot as a base servo, shoulder servo, hand servo and grip servo. Adaptive Neuro Fuzzy Inference System (ANFIS) was applied in this arm 4 DOF robot model in the detection of colored objects. Assisted with programming to perfect the system that is applied to the Arduino microcontroller so that it can do color detection and color object retrieval. As a result, the design of DOF arm 4 robots using vision can take colored objects precisely