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Object Tracking with a 2 DOF Robot Arm Using Fuzzy Logic

An anthropometrically designed 2 DOF robot arm is controlled by fuzzy logic in order to track a reference object, making use of two spheres of distinctive color. The implementation in Matlab of a fuzzy control, allows the robot to deal with the nonlinearities presented in this kind of systems, while it is also studied image recognition and 3D imaging from a single camera.

The functional prototype is 3D printed. An Arduino Mega 2560 commands the actuators (two low cost servos).

The video describes the research problem, the analysis and implementation of the fuzzy control and the corresponding hardware tests.

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