Structural optimization of 4-DOF agricultural robot arm
The shortage of human labor is increasing; thus, more agricultural machinery and equipment are expected to enter the agricultural sector. One of the agricultural machinery widely studied nowadays involves robot arms. Therefore, developing robot arms is a hot issue in this field. The ideal structure...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Penerbit Universiti Kebangsaan Malaysia
2024
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| Online Access: | http://journalarticle.ukm.my/25394/ http://journalarticle.ukm.my/25394/1/kejut_23.pdf |
| _version_ | 1848816346237763584 |
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| author | Nurul Emylia Natasya Ahmad Zakey, Mohd Hairi Mohd Zaman, Mohd Faisal Ibrahim, |
| author_facet | Nurul Emylia Natasya Ahmad Zakey, Mohd Hairi Mohd Zaman, Mohd Faisal Ibrahim, |
| author_sort | Nurul Emylia Natasya Ahmad Zakey, |
| building | UKM Institutional Repository |
| collection | Online Access |
| description | The shortage of human labor is increasing; thus, more agricultural machinery and equipment are expected to enter the agricultural sector. One of the agricultural machinery widely studied nowadays involves robot arms. Therefore, developing robot arms is a hot issue in this field. The ideal structure of the robot arm with optimal length is currently gaining popularity and being used in many sectors, such as manufacturing and agriculture. This is closely related to the dynamic structure of agricultural areas. Therefore, this study uses the forward kinematic modeling method to design an optimal robot arm to achieve a specific coordinate in a dynamic environment. The robot in this study arm mimics the boom and arm installed on a tractor. The forward kinematic problem in this study is defined using the Denavit-Hartenberg (DH) convention method. The DH convention is commonly used to solve kinematic analysis problems of a robot arm. Simulation of kinematic modeling is performed using MATLAB software. This study studies various optimization algorithms to compare the performance of algorithms that can achieve the optimal length with minimum errors. The comparison between artificial bee colony (ABC) and particle swarm optimization (PSO) is studied. At the end of the study, the best algorithm was selected for the robot arm design with a four-degree-of-freedom (4-DOF). The best algorithm, i.e., the PSO algorithm, is evaluated by calculating mean square error (MSE of 0.00108527), root mean square error (RMSE of 0.01678), mean absolute error (MAE of 0.004286081), and end-effector position error (error of 0.080557045), where the best algorithm has the lowest value of error. |
| first_indexed | 2025-11-15T01:04:25Z |
| format | Article |
| id | oai:generic.eprints.org:25394 |
| institution | Universiti Kebangasaan Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:04:25Z |
| publishDate | 2024 |
| publisher | Penerbit Universiti Kebangsaan Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:generic.eprints.org:253942025-06-24T07:51:07Z http://journalarticle.ukm.my/25394/ Structural optimization of 4-DOF agricultural robot arm Nurul Emylia Natasya Ahmad Zakey, Mohd Hairi Mohd Zaman, Mohd Faisal Ibrahim, The shortage of human labor is increasing; thus, more agricultural machinery and equipment are expected to enter the agricultural sector. One of the agricultural machinery widely studied nowadays involves robot arms. Therefore, developing robot arms is a hot issue in this field. The ideal structure of the robot arm with optimal length is currently gaining popularity and being used in many sectors, such as manufacturing and agriculture. This is closely related to the dynamic structure of agricultural areas. Therefore, this study uses the forward kinematic modeling method to design an optimal robot arm to achieve a specific coordinate in a dynamic environment. The robot in this study arm mimics the boom and arm installed on a tractor. The forward kinematic problem in this study is defined using the Denavit-Hartenberg (DH) convention method. The DH convention is commonly used to solve kinematic analysis problems of a robot arm. Simulation of kinematic modeling is performed using MATLAB software. This study studies various optimization algorithms to compare the performance of algorithms that can achieve the optimal length with minimum errors. The comparison between artificial bee colony (ABC) and particle swarm optimization (PSO) is studied. At the end of the study, the best algorithm was selected for the robot arm design with a four-degree-of-freedom (4-DOF). The best algorithm, i.e., the PSO algorithm, is evaluated by calculating mean square error (MSE of 0.00108527), root mean square error (RMSE of 0.01678), mean absolute error (MAE of 0.004286081), and end-effector position error (error of 0.080557045), where the best algorithm has the lowest value of error. Penerbit Universiti Kebangsaan Malaysia 2024 Article PeerReviewed application/pdf en http://journalarticle.ukm.my/25394/1/kejut_23.pdf Nurul Emylia Natasya Ahmad Zakey, and Mohd Hairi Mohd Zaman, and Mohd Faisal Ibrahim, (2024) Structural optimization of 4-DOF agricultural robot arm. Jurnal Kejuruteraan, 36 (3). pp. 1127-1134. ISSN 0128-0198 https://www.ukm.my/jkukm/volume-3603-2024/ |
| spellingShingle | Nurul Emylia Natasya Ahmad Zakey, Mohd Hairi Mohd Zaman, Mohd Faisal Ibrahim, Structural optimization of 4-DOF agricultural robot arm |
| title | Structural optimization of 4-DOF agricultural robot arm |
| title_full | Structural optimization of 4-DOF agricultural robot arm |
| title_fullStr | Structural optimization of 4-DOF agricultural robot arm |
| title_full_unstemmed | Structural optimization of 4-DOF agricultural robot arm |
| title_short | Structural optimization of 4-DOF agricultural robot arm |
| title_sort | structural optimization of 4-dof agricultural robot arm |
| url | http://journalarticle.ukm.my/25394/ http://journalarticle.ukm.my/25394/ http://journalarticle.ukm.my/25394/1/kejut_23.pdf |