Title: Design of a solar-powered mobile manipulator using fuzzy logic controller of agriculture application

Authors: Fradina Septiarini; Tresna Dewi; Rusdianasari

Addresses: Applied Master of Renewable Energy Department, Politeknik Negeri Sriwijaya, Jalan Srijaya Negara, Palembang, Indonesia Fax: +62-711-355-918 ' Electrical Engineering Department, Politeknik Negeri Sriwijaya, Jalan Srijaya Negara, Palembang, Indonesia Fax: +62-711-355-918 ' Renewable Energy Department, Politeknik Negeri Sriwijaya, Jalan Srijaya Negara, Palembang, Indonesia Fax: +62-711-355-918

Abstract: This paper shows the feasibility of applying a mobile manipulator powered by solar energy as a harvesting robot in agriculture. The designs are started by designing the robot's mechanics and the mobile manipulator control. The motion of the mobile base and arm robot manipulator are approached using FLC, whose inputs are based on target detection using image processing image segmentation. FLC design is also intended to predict the robot's charging source based on the light sensor attached to the charging system. The robot can directly take power from the solar ray during a sunny day or take it from the battery during a cloudy day. The robot motion is simulated using MobotSim to show how the robot moves from one spot to another, harvesting the agricultural product. The simulations conducted in this study show that the solar-powered mobile manipulator is possible are applied in agriculture as a harvesting robot.

Keywords: agriculture; fuzzy logic; mobile manipulator; robot vision; solar energy.

DOI: 10.1504/IJCVR.2022.125356

International Journal of Computational Vision and Robotics, 2022 Vol.12 No.5, pp.506 - 531

Received: 09 Jan 2021
Accepted: 14 Aug 2021
Published online: 07 Sep 2022 *

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