{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:17:27Z","timestamp":1777702647472,"version":"3.51.4"},"reference-count":9,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2018,11,29]],"date-time":"2018-11-29T00:00:00Z","timestamp":1543449600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2019,3,16]]},"abstract":"<jats:p>In this study, a four-degree of freedom (4-DOF) robot arm uses an innovative two-dimensional vision sensing method to grip a moving target on a moving platform. This study utilizes forward and inverse kinematics to establish a dynamic model of the 4-DOF robot arm. A computer as a controller and a single charge-coupled device (CCD) calculates the two-dimensional vision sensing method and sends commands to an Arduino Uno microcontroller to drive the robot arm. According to simulation results of transient and steady states in MATLAB SimMechanics, the response of the dynamic proportional-fuzzy controller is better than the response of proportional\u2013integral\u2013derivative controller. To demonstrate a precise control of the point-contact grip, this study utilizes a ping pong ball as a target on a moving platform. Using the dynamic proportional-fuzzy controller based on the two-dimensional vision sensing method, the 4-DOF robot arm can position, grip, and carry a moving ping pong ball to a designated place in three-dimensional space, which breaks through the previous two-dimensional limitation using a single CCD. This breakthrough can reduce the weight and cost of the robot arm. Therefore, this study aims to utilize the technology to grip moving targets on a moving platform for manpower cost reduction in the industry or agriculture domain in the future.<\/jats:p>","DOI":"10.3233\/jifs-169874","type":"journal-article","created":{"date-parts":[[2018,11,30]],"date-time":"2018-11-30T12:14:58Z","timestamp":1543580098000},"page":"985-998","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Dynamic proportional-fuzzy grip control for robot arm by two-dimensional vision sensing method"],"prefix":"10.1177","volume":"36","author":[{"given":"Bor-Jiunn","family":"Wen","sequence":"first","affiliation":[{"name":"Department of Mechanical and Mechatronic Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai-Chen","family":"Syu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronic Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chia-Hung","family":"Kao","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronic Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,11,29]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.3390\/app5040851"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1973.5408575"},{"key":"e_1_3_1_4_2","first-page":"203","article-title":"A fruit detection system and an end effector for robotic harvesting of fuji apples","volume":"12","author":"Bulanon D.M.","year":"2010","unstructured":"D.M.Bulanon and T.Kataoka, A fruit detection system and an end effector for robotic harvesting of fuji apples, Agricultural Engineering International 12 (2010), 203\u2013210.","journal-title":"Agricultural Engineering International"},{"key":"e_1_3_1_5_2","first-page":"106","article-title":"Combining template tracking and laser peak detection for 3D reconstruction and grasping in underwater environments","author":"Prats M.","year":"2012","unstructured":"M.Prats, J.J.Fernandez and P.J.Sanz, Combining template tracking and laser peak detection for 3D reconstruction and grasping in underwater environments, IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 106\u2013112.","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_1_6_2","article-title":"Autonomous fruit picking machine: A robotic apple harvester","author":"Baeten J.","year":"2007","unstructured":"J.Baeten, K.Donne', S.Boedrij, W.Beckers and E.Claesen, Autonomous fruit picking machine: A robotic apple harvester, 6th International Conference on Field and Service Robotics, 2007.","journal-title":"6th International Conference on Field and Service Robotics"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.3390\/s140711557"},{"key":"e_1_3_1_8_2","volume-title":"A mathematical introduction to robotic manipulation","author":"Murray R.M.","year":"1994","unstructured":"R.M.Murray, Z.Li and S.S.Sastry, A mathematical introduction to robotic manipulation, CRC Press, 1994."},{"key":"e_1_3_1_9_2","volume-title":"PID control","author":"Araki M.","year":"2009","unstructured":"M.Araki, PID control, Unbehauen, H. (Ed.). EOLSS Publishers Co. Ltd, Oxford, 2009."},{"key":"e_1_3_1_10_2","volume-title":"Neural fuzzy systems: A neuro-fuzzy synergism to intelligent systems","author":"Lin C.T.","year":"1996","unstructured":"C.T.Lin and C.S.G.Lee, Neural fuzzy systems: A neuro-fuzzy synergism to intelligent systems, Prentice Hall, 1996."}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169874","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.3233\/JIFS-169874","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169874","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:36:30Z","timestamp":1777455390000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.3233\/JIFS-169874"}},"subtitle":[],"editor":[{"given":"Wen-Hsiang","family":"Hsieh","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2018,11,29]]},"references-count":9,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,3,16]]}},"alternative-id":["10.3233\/JIFS-169874"],"URL":"https:\/\/doi.org\/10.3233\/jifs-169874","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,11,29]]}}}