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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics E-Dimas: Jurnal Pengabdian kepada Masyarakat International Journal of Applied Sciences and Smart Technologies
Martinus Bagus Wicaksono
Politeknik Mekatronika Sanata Dharma
Computer Science & IT Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Social Sciences

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Design and Development of a Path-Tracking System Based on Radio Frequency Identification Sensor for Educational Toy Robot (EDOT) Wicaksono, Martinus Bagus
International Journal of Applied Sciences and Smart Technologies Volume 01, Issue 02, December 2019
Publisher : Universitas Sanata Dharma

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (754.068 KB) | DOI: 10.24071/ijasst.v1i2.1879

Abstract

This paper offers the design and development of a path-tracking system based on Radio Frequency Identification (RFID) sensors. This Path-tracking system will be used as a navigation system on EDOT. The EDOT requires a navigation system because it must be able to drive from the starting point to the predetermined end point automatically. This path-tracking system uses RFID sensors to detect RFID cards which have been arranged as a path. And then the EDOT will pass through the path consisting of some RFId cards. EDOT is a solution of a previous system, called Line-Follower, which uses infrared as a sensor to detect lines to guide a robot to go towards its destination point. The path-tracking system used by EDOT can work more efficiently in detecting the path to be traversed than other robots using the line follower system with infrared sensors or LDR (Light Dependent Resistor).Keywords: path-tracking, RFID, EDOT, robot
Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino Petrus Sutyasadi; Martinus Bagus Wicaksono
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 2: April 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i2.14749

Abstract

This paper proposes a small structure of robust controller to control robotic arm’s joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.
Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller Petrus Sutyasadi; Martinus Bagus Wicaksono
Bulletin of Electrical Engineering and Informatics Vol 10, No 4: August 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i4.3059

Abstract

This paper proposes an improved control strategy of a robotic arm joint using hybrid controller consist of H∞ robust controller and iterative learning controller. The main advantage of this controller is the simple structure that made it possible to be implemented on a small embedded system for frugal innovation in industrial robotic arm development. Although it has a simple structure, it is a robust H∞ controller that has robust stability and robust performance. The iterative learning controller makes the trajectory tracking even better. To test the effectiveness of the proposed method, computer simulations using Matlab and hardware experiments were conducted. Variation of load was applied to both of the processes to present the uncertainties. The superiority of the proposed controller over the proportional integral derivative (PID) controller that usually being used in a low-cost robotic arm development is confirmed that it has better trajectory tracking. The error tracking along the slope of sinusoidal trajectory input was suppressed to zero. The biggest error along the trajectory that happened on every peak of the sinusoidal input, or when the direction is changed has been improved from 15 degrees to 4 degrees. This can be conceived that the proposed controller can be applied to control a low-cost robotic arm joint position which is applicable for small industries or educational purpose.
Design and Development of a Path-Tracking System Based on Radio Frequency Identification Sensor for Educational Toy Robot (EDOT) Martinus Bagus Wicaksono
International Journal of Applied Sciences and Smart Technologies Volume 01, Issue 02, December 2019
Publisher : Universitas Sanata Dharma

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24071/ijasst.v1i2.1879

Abstract

This paper offers the design and development of a path-tracking system based on Radio Frequency Identification (RFID) sensors. This Path-tracking system will be used as a navigation system on EDOT. The EDOT requires a navigation system because it must be able to drive from the starting point to the predetermined end point automatically. This path-tracking system uses RFID sensors to detect RFID cards which have been arranged as a path. And then the EDOT will pass through the path consisting of some RFId cards. EDOT is a solution of a previous system, called Line-Follower, which uses infrared as a sensor to detect lines to guide a robot to go towards its destination point. The path-tracking system used by EDOT can work more efficiently in detecting the path to be traversed than other robots using the line follower system with infrared sensors or LDR (Light Dependent Resistor).Keywords: path-tracking, RFID, EDOT, robot
Pembuatan dan Pelatihan Perawatan Instalasi Keran Cuci Tangan Tanpa Sentuh untuk Mencegah Penyebaran Virus di Masa Pandemi bagi Umat di Gereja Bunda Maria Diangkat ke Surga, Klaten Wicaksono, Martinus Bagus; Wahyujati, Bertha Bintari
E-Dimas: Jurnal Pengabdian kepada Masyarakat Vol 15, No 1 (2024): E-DIMAS
Publisher : Universitas PGRI Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26877/e-dimas.v15i1.14685

Abstract

Meskipun masa pandemi Covid 19 telah mereda, namun kebiasaan mencuci tangan tetap menjadi kebutuhan. Selain untuk mencegah tertular virus juga untuk menjaga kebersihan diri. Oleh karena itu, pengabdian masyarakat ini melatih kompetensi membuat kran otomatis tanpa sentuh dan membuat instalasinya. Pelatihan membuat instalasi dan kran otomatis kepada umat Gereja Bunda Mara Diangkat ke Surga, Klaten ini diharapkan dapat menginspirasi umat untuk memperbanyak dan merawat kran otomatis ini dengan baik. Kran otomatis ini disederhanakan tanpa menggunakan mikrokontroler sehingga selain harga lebih terjangkau juga akan mudah dibuat sendiri. Sistem yang digunakan adalah deteksi oleh inframerah akan mengirimkan perintah ke modul relay untuk mengaktifkan solenoid valve membuka kran, ketika ada obyek yang mengenai sensor dengan jarak kurang lebih 15 cm. Solenoid akan menutup kran setlah obyek dihilangkan.
Co-Authors Bertha Bintari Wahyujati Petrus Sutyasadi