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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control)
R. Asnawi
Universitas Negeri Yogyakarta
Computer Science & IT Electrical & Electronics Engineering

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Control of a Movable Robot Head Using Vision-Based Object Tracking Moh Khairudin; G.D. Chen; M.C. Wu; R. Asnawi; Nurkhamid Nurkhamid
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 4: August 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (504.661 KB) | DOI: 10.11591/ijece.v9i4.pp2503-2512

Abstract

This paper presents a visual tracking system to support the movement of the robot head for detecting the existence of objects. Object identification and object position estimation were conducted using image-based processing. The movement of the robot head was in four directions namely  to the right, left, top, and bottom of the robot head. Based on the distance of the object, it shifted the object to many points to assess the accuracy of the process of tracking the object. The targeted objects are detected through several processes, namely normalization of RGB images, thresholding, and object marking. The process of tracking the object conducted by the robot head varied in 40 various object points with high accuracy. The further the object’s distance to the robot, the smaller the corner of the movement of the robot produced compared to the movement of the robot head to track an object that was closer even though with the same distance stimulant shift object. However, for the distance and the shift of the same object, the level of accuracy showed almost the same results. The results showed the movement of the robot head to track the object under the head of the robot produced the movement with a larger angular error compared to the movement of the robot head in another direction even though with the stimulant distance of the same object position and the distance shift of the same object.
Notice of Retraction: The characteristics of TB6600 motor driver in producing optimal movement for the Nema23 stepper motor on CNC machine M. Khairudin; R. Asnawi; A. Shah
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 1: February 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i1.12781

Abstract

This article has been retracted by the publisher. -----------------------------------------------------------------------This article has been retracted at the request of the Authors. The editors and authors have jointly made the decision to retract the paper. Reasonable effort should be made to remove references to this paper.-----------------------------------------------------------------------This study describes the use of the TB6600 motor driver for the stepper motor on CNC machine. Based on the analysis of the performance of the TB6600 motor driver, in order to produce an optimal stepper motor of Nema23 on CNC machine, three stepper motors are needed as the CNC engine drives for the X, Y and Z axeo be connected to the TB6600 motor driver. The motor is then controlled by Raspberry Pi via Mach3 Interface Board of Breakout Board. The softness of motion and safe working temperature for the stepper motor of Nema23 on CNC machine are obtained by varying the control of the micro-step switches and controlling current switches. The results show that 32 steps of micro-step control produce smoother resonance and movement than smaller micro-steps. In addition, the current control of 1 A generates the best motor driver output with a lower temperature for all three stepper motors.
Co-Authors A. Shah G.D. Chen M.C. Wu Moh. Khairudin Nurkhamid Nurkhamid