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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) EMITTER International Journal of Engineering Technology
Eko Henfri Binugroho
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Electrical & Electronics Engineering

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Journal : International Journal of Electrical and Computer Engineering

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Fuzzy-PID controller for an energy efficient personal vehicle: Two-wheel electric skateboard Bambang Sumantri; Eko Henfri Binugroho; Ilham Mandala Putra; Rika Rokhana
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 6: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (318.79 KB) | DOI: 10.11591/ijece.v9i6.pp5312-5320

Abstract

The two-wheeled electric skateboard (TWS) is designed for a personal vehicle. A Fuzzy-PID control strategy is designed and implemented for controlling its motion. Basically, motions control of the TWS is performed by balancing the pitch position of the TWS. Performance of the designed controller is demonstrated experimentally. The Fuzzy algorithm updates the PID gains and therefore it can handle the changing of the TWS load. Contribution of Fuzzy-PID in reducing the electric energy consumption, which is an important issue in electrical system, is also evaluated. The Fuzzy-PID successes to reduce the electric energy consumption of the TWS compared to the conventional PID.
Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping Muhammad Ramadhan Hadi Setyawan; Raden Sanggar Dewanto; Bayu Sandi Marta; Eko Henfri Binugroho; Dadet Pramadihanto
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 1: February 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i1.pp288-298

Abstract

The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the end-effector and target positions in path planning of 0.1 cm.
Co-Authors Bambang Sumantri Dadet Pramadihanto Ilham Mandala Putra Luky Yanto Marta, Bayu Sandi Muhammad Ramadhan Hadi Setyawan Raden Sanggar Dewanto Rika Rokhana Syadza Atika Rahmah