Balancing system of tray on waiter robot using complementary filter and fuzzy logic

The emergence of waiter robots forces humans to develop it to be more sophisticated. One of part which should be developed is balancing system of tray that is carried by waiter robot, because the movement of robot can affect tilt of tray which causes spilling of foods or drinks from the tray. This study is done for make a system that can keep balancing position of tray that is carried by waiter robot. Tray balancing system work based on tilt of the tray that is detected using accelerometer and gyroscope sensor which is filtered by complementary filter to reduce noise on reading data of sensors. After that, the main control device which uses Arduino Uno R3 which is programed with compiler software of Arduino (Arduino IDE) will return balancing position of tray using two motor servos that will move tray on two different axes. Fuzzy logic is used as controller in this system to control the direction and angle of tray movement. This study success to make a complementary filter that can reduce noise of reading sensor accelerometer and gyroscope with coefficient filter (K) 0.8 and sampling time 10 ms. This study also provides balancing system of tray with balance tolerance of 17.565° and -15.532° for x-angle (pitch) movement and 14.613° and -13.392° for y-angle (roll) movement.