A SCARA Arm With Fuzzy Control For Automated Fruit Separation Using Color Sensors

This study introduces a method for fruit detection and sorting based on color, featuring a newly designed and constructed sorting arm that incorporates a fuzzy controller. The arm's design was developed, simulated, and programmed using Simulink MATLAB software alongside the Hardware Arduino Package Support Simulink, implemented on an Arduino board. A TC۳۲۰۰ color-to-frequency converter chip from the CCD family was employed for color detection. The fuzzy controller was key in controlling the arm’s movements and fruit identification. The arm utilizes two DC servo motors for rotational motion and a DC motor for linear movement, with a gripper as its end effector. The controller adjusts the arm’s position by evaluating position error and color frequency data. The outcomes of the MATLAB simulation in External mode on the constructed prototype are discussed.

کلیدواژه ها:

SCARA arm ، fuzzy controller ، fruit separation ، color sensor ، infrared sensor ، Arduino board