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All Journal Inovasi Fisika Indonesia (IFI) Prisma Sains: Jurnal Pengkajian Ilmu dan Pembelajaran Matematika dan IPA IKIP Mataram
Wahyu Bagus Syahputro
Universitas Negeri Surabaya
Biochemistry, Genetics & Molecular Biology Earth & Planetary Sciences Education Electrical & Electronics Engineering Energy Engineering Environmental Science Materials Science & Nanotechnology Mathematics Physics Other

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IMPLEMENTASI PERGERAKAN KINEMATIKA INVERS FISIKA DALAM PENGENDALIAN ROBOT OTONOM BERODA MECANUM : Menggunakan Tuning PID Berbasis MATLAB untuk Akurasi Tinggi Wahyu Bagus Syahputro; Dzulkiflih
Inovasi Fisika Indonesia Vol. 15 No. 2 (2026): Vol 15 No 2
Publisher : Prodi Fisika FMIPA Universitas Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26740/ifi.v15n2.p233-242

Abstract

Abstrak Penelitian ini bertujuan untuk merancang dan mengimplementasikan algoritma kinematika invers berbasis fisika yang efisien untuk pengendalian pergerakan robot otonom beroda mecanum. Fokus utama adalah meningkatkan akurasi dan efisiensi pergerakan robot dengan pendekatan kendali yang adaptif dan responsif terhadap variasi kecepatan. Metode penelitian melibatkan perancangan sistem kinematika invers untuk memetakan gerak robot ke kecepatan roda, diintegrasikan dengan kontrol PID yang dituning menggunakan MATLAB. Komponen hardware mencakup mikrokontroler ESP32, motor driver TB6612FNG, dan motor DC encoder. Pengujian dilakukan di Ruang Robotik Rengganis, dengan variabel kecepatan setpoint 100-1000 RPM. Hasil menunjukkan bahwa rata-rata error kecepatan pada robot fisik setelah tuning PID sebesar 0.21%, sedangkan pada simulasi MATLAB sebesar 0.33%. Respons sistem menunjukkan kondisi stabil dengan error persentase di bawah 0.37% pada kecepatan tinggi. Pendekatan ini terbukti efektif dalam mengurangi deviasi kecepatan dan meningkatkan performa robot, dengan kontribusi pada pengembangan teknologi robotika instrumentasi yang adaptif.   Abstract This study aims to design and implement a physics-based inverse kinematics algorithm for controlling the motion of a mecanum-wheeled autonomous robot. The main focus is to improve the accuracy and efficiency of robot movement with an adaptive and responsive control approach to speed variations. The research method involves designing an inverse kinematics system to map robot motion to wheel speed, integrated with PID control tuned using MATLAB. Hardware components include ESP32 microcontroller, TB6612FNG motor driver, and DC encoder motor. Testing was conducted in Rengganis Robotics Room, with setpoint speed variables 100-1000 RPM. Results show that the average speed error on the physical robot after PID tuning is 0.21%, while the MATLAB simulation produces an average error of 0.33%. The system response is stable with percentage error below 0.37% at high speeds. This approach is proven effective in reducing speed deviation and improving robot performance, contributing to the development of adaptive instrumentation robotics technology.
Analysis of Magnetic and Electric Fields in the Vicinity of the High-Voltage Transmission Line Dzulkiflih Dzulkiflih; Imam Syaroni; Wahyu Bagus Syahputro
Prisma Sains : Jurnal Pengkajian Ilmu dan Pembelajaran Matematika dan IPA IKIP Mataram Vol. 14 No. 3: July 2026
Publisher : Universitas Pendidikan Mandalika

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33394/j-ps.v14i3.17826

Abstract

This study presents an overview of the High Voltage Overhead Line (SUTT) located within the residential areas of Buduran District, Sidoarjo, highlighting its spatial characteristics and potential implications for the surrounding community environment. Previous studies on magnetic and electric fields around high-voltage transmission lines are mostly conducted in generalized or large-scale urban and industrial settings. However, localized assessments in specific residential or semi-urban areas such as Buduran remain scarce, leaving uncertainty about the actual exposure levels experienced by surrounding communities. This research is an quantitative descriptive analysis using IEEE Standards for EMI in transmission lines, sampling was carried out in 4 different settlements passed by SUTT were Pager Wojo Village, Sidokepung Village, Sidokerto Village and Buduran Village. The finding show that the magnetic field and electric field values for the four villages in Buduran District were classified as safe, namely 0.2 to 1.12 V/m for the electric field and 1 to 130 micro-Tesla for the magnetic field around the 4 villages. The magnetic field and electric field are generated by SUTT, which is 10 meters from the nearest house. So, the Buduran District area is suitable for use as a settlement even though it is passed by SUTT.
Co-Authors DZULKIFLIH Dzulkiflih Dzulkiflih Imam Syaroni