Three Degree-of-Freedom (3 DoF) Object Tracking Manipulator Robot Equipped with Infrared Sensor Array

Abstract:

This paper presents the design and implementation of an object tracking manipulator robot coupled with an infrared sensor array. The robot is intended to demonstrate efficient object tracking within three-dimensional Cartesian space. The robot employs inverse kinematics to convert sensor inputs from Cartesian coordinates into a set of angular values which will drive the actuators based on the real-time location of the object being tracked. A series of experiments intended to assess the robot’s performance in terms of its angle accuracy, coordinate accuracy, and time accuracy in tracking an object was performed. Results indicates high performance tracking accuracy with total average angle accuracy exceeding , average coordinate accuracy above , and time accuracy around . The finding demonstrates the potential integration of an efficient object tracking system with inverse kinematics for more enhanced manipulator robot in wider applications.

• Periodical: Engineering Headway (Volume 27)
• Pages: 134-141
• DOI: https://doi.org/10.4028/p-Oc2wRi
• Online since: October 2025
• Authors: Rilwanu Ar Roiyyaan*, Unan Y. Yusmaniar, Prima Asmara Sejati
• Keywords: Infrared Sensing, Inverse Kinematics, Manipulator Robot, Object Tracking, Sensor Array

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