PROTOTYPE AND IMPLEMENTATION OF EGG SORTING USING FUZZY LOGIC AT 6-DEGREE OF FREEDOM MANIPULATOR

Abstract

Regrouping the size of eggs manually are less efectivenes because the quality of it, controlled by judgment expert which every single person have differences about justification. For resolving the problem about regrouping the eggs size, Prototype and Implementation of Egg Sorting Using Fuzzy Logic at 6-Degree Of Freedom (DOF) Manipulator is the one of solution for getting shortcut about resizing the eggs size and the process of sorting. In this final project is made with image processing-based in order to process the image egg-size which integrated with fuzzy logic intelligent systems and apllied by mamdani method, AND operator for fuzzyfication then center of area method for defuzzyfication.The size of eggs are classified by 5 type size, namely very small, small, average, big, and very big. Along with a minimum system of ATmega 2560 based as the primary controller of the robot manipulator as a sorter medium which put the egg down to egg mat correctly by the size of egg type. According the results of test, it could be concluded that the image processing system with fuzzy logic have average percentage of success 84%. For placing the eggs to the mat based on fuzzy logic have average percentage of success 92%, and placing the eggs to the mat based on judgement expert have average percentage of success 76%.
Keywords: Manipulator Robot 6-Degree Of Freedom, Image processing, Fuzzy Logic