FPGA Realization of Fuzzy Based Robotic
Manipulator for Agriculture Applications
1D.Thatshayini,
PG Scholar, ME VLSI Design,
Kings college of Engineering, Punalkulam, Tamil nadu,
Affiliated to Anna University, Chennai, India.
Email address: thatshayini1195@gmail.com
Abstract- In our country agriculture is a essential
portion of financial changes. The gigantic number of
general population it is enormously rigid to undertaking
the foodstuff. A viewpoint to assurance the
nourishment of remarkable laypeople is troublesome
then again it is likewise hard to create sustenance thing
for foodstuff where low measure of individuals and
youthful age is additionally losing their interest on
cultivating. This project describes fuzzy based robotic
manipulator for advanced agriculture application to
maintain the farm easily. An automation system can
water the plants of a farm without the help of any
human hand. This robotic manipulation have the
options of planting seeds measuring soil moisture etc.
To implement these features, robotic hand is controlled
by fuzzy based computer numerical control with the
help of FPGA. Motor and wheels are used to rotate the
direction of robotic Arm. Therefore two motors are
used to rotate the robotic arm in both X and Y axis and
the stepper motor used to rotate the direction in Z axis.
As the arm can move on three dimensional spaces,
target purposes.
Keywords: .FPGA, Fuzzy logic, robotic arm.
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2Mr. Rajapirian , M.E,M.B.A., (PH.D.)
Assitant Proffesor, Department of ECE,
Kings college of Engineering, Punalkulam, Tamil nadu,
Affiliated to Anna University, Chennai, India.
Email address: rajapirian@gmail.com
I. INTRODUCTION
Robot is an essential component within
automated the flexible assembling structure that one
extremely required subsequent to at the moment.
Robots currently further a mechanism, as robots
contain twist addicted to the understanding not
including limits as price employment reimbursement
moreover customers attention. In spite of the
information that the expenditure of obtaining
programmed construction is accurately profligate yet
as today's rapid progression and status in excellence
with ISO standards, creature are no additional healthy
for such requirements. pioneering job of stitch robots
is affecting at an enormously prompt velocity since
of the repeatedly attractive and updating of the
superiority norms of substance. Robot and
mechanization is utilized the maintenance in brains
the end target to replace human to achieve those
happenings that are paradigm, insecure, and
uninteresting and in a hazardous region. In a creation
of wounding boundary novelty at the instant,
mechanization particularly builds creation capability,
enhanced item excellence and lower invention cost.
There's naught more necessary than a join persons to
program or examine the PC and do routine
conservation.
 II. BAKGROUND & RELATED WORKS
K . Durga Sowjan , R. Sindhu , M . Parijatham ,
K . Srikant, P. Bharga [1] demonstrated that the
system manipulative adaptable self-directed
farming robotic. robotic vehicle which can be
prohibited from beginning to end Bluetooth for
stuffing , spawn and stream system. These
robots are mainly well-designed programmed pick
over be in charge of convention of fertilizers based
on soil stipulation, soil sensors for seep stream in
rain nourish areas. Neha S. Naik , Virendra. V.
Shete , Shruti. R. Danve [2] proposed that the main
motive at the back mechanization of agricultural
processes are reduction at the moment and
liveliness mandatory for the stage cyclical
agricultural responsibilities and growing the
efficiency of give way by treat every crop
separately using meticulousness agricultural notion.
Also, example of an independent Agriculture Robot
is accessible which is in particular planned for germ
sowing mission barely. Its functioning based on
the meticulousness agriculture which enables capable
germ sowing at most advantageous intensity and
most advantageous detachment flanked by crops and
their rows, explicit for each crop type. S. R.
Prathibha , Anupama Honga , M. P. Jyothi [3]
discussed that the quality of monitoring temperature
and humidity in farming countryside all the way
through sensors using CC3200 single chip.
Jayendra Kumar , Prites , Nitish
Bhardwaj , Anumeha[4] proposed that the
system design has been effectively hardened and
implemented using a Xilinx Spartan 3E FPGA
kit. Speed of and are optimization have been the
areas of apprehension while scheming of the
arrangement. Neha D. Kherade1, Jyoti Kute2, Pooja
Pashte3 Pranita Marye4, Prof. DR. Saurabh [5] is
created that the farming machine which is able to
employment on line following attitude which
indicate the place in the ground strength by
observing colour of their leaves. Ultrasonic
principle is used for detecting obstacles and
avoiding impact. The automaton will note
encompassing environmental conditions like
temperature, moisture, dampness etc. and it' be
displayed on alphanumeric demonstrate, in instruct
that machine can settle on strength of the place in
the ground. Hermann Blum, Alexander Dietm¨uller,
Moritz Mildey, J¨org Conradtz Giacomo Indiveriy,
and Yulia Sandamirskaya [6] achieved that the
functional robot control strategies using a mixed
signal analog/digital neuromorphic processor
interfaced to a mobile robotic platform equipped with
an event-based dynamic vision sensor. Ying-Shieh
Kung and Chia-Sheng Chen[7] proposed that the
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novel FPGA (Field Programmable Gate Array)
technology is able to combine an embedded
processor IP (Intellectual Property) and an
application IP to be an SoPC (Systemon- a-
Programmable-Chip) developing environment (Xu et
al., 2003, Altera, 2004, Hall &Hamblen, 2004),
allowing a user to design an SoPC module by mixing
hardware and software.Sajjad Yaghoubi, Negar Ali
Akbarzadeh, ShadiSadeghiBazargani[8] provided
that an overview of worldwide development and
current status of precision-agriculture technologies
based on literatures generated mainly during the past
years. The topics include natural-resource
variability, variability management, management
zone, impact of precision-agriculture technologies on
farm profitability and environment, engineering
innovations, information management, worldwide
application and adoption trend of precision-
agriculture technologies and potentials of the
technologies in modernizing the agriculture in the
world. Rohit, I. J., M DevAnand, and D. Jackson[10]
discussed that the design, conceptual analysis and
implementation of coordinated multipurpose robot
system with smart sensors and then it shows how to
design and integrate various sensors in a single
module and create a data retrieval system which can
be used as a black box and an investigation device.
L. Manivannan, M.S.Priyadharshini [11] focused that
the proposed prototype is implemented by selecting
an arena which considering the agricultural field of
any kind of onion crop. The robot detects the
planting area by using sensors and seeds to be planted
in the corresponding field using gripper arrangement
of the robot. In a continuation, the rest of remaining
farming process could be done automatically. This
system uses AVR ATMEL STUDIO 6.0 and AVR
Boot loader for the programming part of the robot.
This robot could help the farmers for doing the
farming process in accurate. Shabiul Islam, Mukter
Zaman, Bakri Madon, and Masuri Othman[12]
designed that the model for an autonomous mobile
robot controller (MRC) hardware with navigation
concept using Fuzzy Logic Algorithm (FLA).
III. PROPOSED SYSTEM
Our system is an automated precision farming
system which is controlled automatically and
manually, software package designed from the
ground up with today’s technology. It is quite similar
with today’s 3D printers and CNC machine, our
machines hardware employs liner guides in the X, Y,
Z direction which allows the tools such as seeding,
watering, fertilizing, sensing temperature, humidity,
moisture and precisely positioned and gives
information of plants and soils automatically
controlled for seeding, watering and fertilizing; the
whole thing is numerically controlled by using
FPGA. Other features are software base like giving
temperature, humidity and moisture information of
soil.
Fig. 1. System approach
Fig. 2. Proposed system (Frame work)
Our system is the total hardware system
very simple easy to operate and we can also operate it
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remotely by using web based software. The website
contain full of data about various type of plant which
is suitable for the land. The machine can also operate
from the website manually and there is an option of
live video steaming. For today’s world the machine
is very handy and easy to operate Farm Automation
System with Application for farmers to cultivate.
This technology is very much standard level for
today’s world.
TABLE 1: TESTING OF SEEDING MACHINE
IV. DESIGN METHODOLOGY
This system consists of two horizontal bars
which is used a rail. The rail have movable belt
which will the central arm in font and forth. The
central arm have a stepper motor which will act as a
head. The head consist of seeding, weeding and
fertilizing system.
Fig. 3. System architecture for proposed system
A. Flow chart for rotation in X-axis
For moving in X direction we use two power
window motor. This is controlled by the FPGA. A
circular ring is attached with the head on the motor to
pull the chain and moving X direction.
 Fig. 4. Flowchart for motor rotates in X-axis

Fig. 5. Flowchart for motor rotates in Y-axis

After initialized the port, pins and the power
the sends signal to run the motor. If the Initialization
If the total length is 5 feet then it makes a
is correct then the motor receive the single from
delay each and every 1 foot in its way to work in Z
FPGA. If the motor get proper signal then it will
axis. Thus the machine starts works in Z Axis. Here
decide about the distance travelled. In X direction
b we also use a motor driver to control the speed of
the machine will work on. If the total distance is 8
the motor work on. If the total distance is 8 feet then
feet then the machine is stop per one feet in its
the machine is stop per 2 feet in its distance to work
distance to work in Y and Z direction. By using
in Y and Z direction work on. If the total distance is
motor driver the motor will run smoothly.
8 feet then the machine is stop per one feet in its
distance to work in Y and Z direction. By using
B. Rotation in Y- axis
motor driver the motor will run smoothly.
Same as before when the motor get the
signal from the FPGA and if the signal correct then
C. Rotation in Z- axis
the motor is working in Y direction.
When there is delay in y axis the work of Z
axis starts. To work in Z axis we use an actuator.
Like before the FPGA sends the signal to the
actuator. First it’s initialized its pin and port then it
sends command which is received from the client.
When the signal is received by the actuator then if the
signal is correct, it starts to dig the soil.

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Fig. 6. Flowchart for motor rotates in Z-axis
After digging the soil there is delay
initialized by the client for seeding. And the steps
continue in its whole journey .then the machine starts
the seeding operator.
V. EXPERIMENTAL RESULTS
Fig. 7. Experimental setup
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Fig. 8. Circuit Setup in the field for testing
A. Movement Control:
Movement control can be done in two ways
in our project.
• Automatic control
• Manual control
While in automatic control, the machine runs itself by
the help of the VHDL code. But when in manual
control mode, the process is done in several steps.
First of all, when we press any button in forward,
backward, left or right; it goes to main1. VHDL file
as a command number from the XILINX file. This is
done by assigning some values in the array. The
array look like <v1, v2, v3> where v1, v2, v3 etc.
represents some six different numbers from 0 to 5.
Where,
0 denotes => Machine Off 1 denotes => Machine On
2 denotes => Move Forward (X- axis direction)
3 denotes => Move Backward (X- axis direction)
4 denotes => Move Right (Y- axis direction) ;5
denotes => Move Left(Y- axis direction).
Fig. 9. Seeder Test Result

VI. CONCLUSION
Farmers are those people who work day and night
under the bright sun during summer, under cloud and
rain during rainy season. They do it just to make
sufficient food for us. They do it for the people of
their country. They do it out of responsibility and
love towards their country. The FPGA Based Farm
Automation System can perform watering, seeding,
soil digging for plants. Moreover, it can sense the
condition of soil through temperature and moisture
sensor. So, it makes farming easier. As a result a
person can know what is going on in his/her field and
can take any kind of necessary step from remote area.
As a result it makes faring faster. Thirdly, one does
not need to use his/her hand dirty and doesn’t need to
spend all the time in the field. Not just this, one can
easily take rest and also can do multitasking because
major duties of farming can performed through this
device. In fact any children can do farming by taking
the help of this device.
VII. FUTURE WORK
In future, we have the plan to overcome
the limitations and make this as user. so that the
general people of our country can get the benefit of
happy farming.
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