Design of Automatic Goods Carrier Robot System Based on Line Sensor and Fuzzy Logic Control Mamdani

摘要

The development of control system, especially in the field of robotics was improving more progress in efforts to complete human work. One of them is an automatic goods carrier robot system that used in industry. At present, the majority of automatic goods carrier robotsystem still usea human control. In this paper, a design of automatic system for robotic goods carriers will be presented. One of the challenges in the development of a goods transport robot system is how the robot can run stably when carrying goods. This study presents a design of goods carrier robot system based on line sensors and fuzzy logic control. The input that used in this fuzzy logic system are the light and weight which obtained from the BFD-1000 sensor and barometric sensor. Meanwhile, the output of fuzzy system are the speed of right motor and the left motor, in order to stabilize the robot movement when the load was added. The simulation was is done to get the membership function value. Based on the simulation results using a case study, it is known that the load carried is 210 grams and the living sensor is sensor -2.5. Then the simulation results obtained speed of right motor PWM value of 21,9 and speed of left motor PWM value of 64,4. So that the robot runs in a straight state.