Robot end-effector based sensor integration for tracking moving parts

The paper presents a cost-efficient end-effector based infrared proximity sensor integration system and the implementation of a fuzzy logic control algorithm. End-effector sensor outputs are incorporated in a fuzzy logic control algorithm to make the robotic manipulator grasp objects on a moving conveyor belt. The robot movements are going to be the result of the comparative measurements made by the sensors after the motion of the moving target is predicted and the gripper is brought into a zone close to the object to be grasped by the application of a vision system.