Implementation of Forward Kinematics Methods on Weight-Based Sorting Arm Robot

The arm robot is a type of manipulator that resembles a human arm. This robot can be used as an automated system for sorting items, including sorting items based on their weight. The process of sorting items based on their weight can utilize the Load Cell sensor as a measuring tool to determine the weight of the items to be sorted. The application of the forward kinematics method to the robot arm is one of the approaches used to control robot movement towards the goal position. Based on this explanation, the researcher aims to implement the forward kinematics method on the robot arm as a sorter of items based on weight. The operation of this tool begins with an object that runs on a conveyor and will automatically fall on the scale. The Load Cell Sensor will send data on the weight of the item to the microcontroller, which then sends it to the arm robot as forward kinematics calculation data. After receiving the data, the arm robot will grab the items and move them to the appropriate place based on their weight specifications. There are four weight categories that will be sorted, namely; 80 grams, 100 grams, 120 grams, and 180 grams.