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Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator Saputra, Hendri Maja; Abidin, Zainal; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 1 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Driver mechanism with two degree of freedom (MP 2-DK) is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY) disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.

Rancang Bangun Sistem Kendali Motor Stepper Printer Canon BJC-S200SPx untuk Prototipe Lengan Robot 5-DOF (Majabot) Saputra, Hendri Maja
INKOM Journal Vol 4, No 1 (2010)
Publisher : Pusat Penelitian Informatika - LIPI

Designing and building of motor stepper control system from unused printer Canon BJC-S200SPx of robot arm prototype with five degree of freedom (5-DOF) has been developed. That printer type is used because if trouble occur it is not only very difficult but also expensive to be repaired, so it is sold very cheap or misspent. Robot arm has 5 revolution joints, wherein each joint is limited by one degree of freedom to make the manipulator control systems and mechanics work easier. To control the systems device, it needs driver (control circuit) with data input in the form of computer command using programming software, with parallel port communicated in order to generate motor stepper pulses. The experiment results showed that low-precisian of robot arm movement occur cumulatively, although hardware and software control systems had been designed optimally.

Three axis deviation analysis of CNC milling machine Subagio, Dalmasius Ganjar; Subekti, Ridwan Arief; Saputra, Hendri Maja; Rajani, Ahmad; Sanjaya, Kadek Heri
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 10, No 2 (2019)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

The manufacturing technology has developed rapidly, especially those intended to improve the precision. Consequently, increasing precision requires greater technical capabilities in the field of measurement. A prototype of a 3-axis CNC milling machine has been designed and developed in the Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI). The CNC milling machine is driven by a 0.4 kW servo motor with a spindle rotation of 12,000 rpm. This study aims to measure the precision of the CNC milling machine by carrying out the measurement process. It is expected that the CNC milling machine will be able toperform in an optimum precision during the manufacturing process. Accuracy level testing is done by measuring the deviations on the three axes namely X-axis, Y-axis, and Z-axis, as well as the flatness using a dial indicator and parallel plates. The measurement results show the deviation on the X-axis by 0.033 mm, the Y-axis by 0.102 mm, the Z-axis by 0.063 mm, and the flatness of the table by 0.096 mm, respectively. It is confirmed that the deviation value is within the tolerance standard limits set by ISO 2768 standard. However, the calibration is required for this CNC milling machine to achieve more accurate precision. Furthermore, the design improvement of CNC milling machine and the application of information technology in accordance with Industry 4.0 concept will enhance the precision and realibility.

ANALISIS SUBSISTEM RAMP UNTUK MENAIKI TANGGA PADA MOBIL ROBOT LIPI VERSI 1 (MOROLIPI V1) Saputra, Hendri Maja
AUSTENIT Vol. 12 No. 1 (2020): AUSTENIT 12012020
Publisher : Politeknik Negeri Sriwijaya, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5281/zenodo.4547822

Paper ini membahas secara rinci analisis sistem menaiki tangga (ramp) pada prototipe mobil robot penjinak bom versi 1 (morolipi v1).Â Analisis perlu dilakukan agar secara ilmiah dapat dibuktikan bahwa robot berfungsi sesuai dengan yang didesain. Analisis menggunakan pendekatan kinematika klasik untuk mendapatkan gaya dan momen yang bekerja pada mekanisme penggerak saat menaiki tangga. Berdasarkan analisis melalui simulasi dan eksperimenÂ yang dilakukan maka dapat disimpulkan bahwa desain mobil robot dapat terbukti dapat bekerja dengan baik untuk ramp mobil robot menaiki tangga dengan kemiringan maksimal 42 derajat.Â Momen paling besar ketika menaiki tangga di sudut kemiringan 30 derajat dengan koefisien gesek 0,9.Â

Eco-design of portable solar-powered telescopic lamp for off-grid areas in Indonesia Kadek Heri Sanjaya; Ahmad Rajani; Hendri Maja Saputra; Dalmasius Ganjar Subagio; Ridwan Arief Subekti; Ahmad Fudholi
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 12, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v12.i4.pp2511-2522

This study describes the development of eco-design of portable solar-powered telescopic lamp for off-grid area in Indonesia. Several design requirements for the lamp, namely, sustainability, portability, affordability, and reliability, are the objectives of the design process in this study. Sustainability is achieved through renewable energy and the application of eco-design principles. Portability means it is lightweight, compact and can be carried anywhere inside a tube. This solar-powered telescopic lamp was designed with a 3.7 V, 15.6 Ah battery power specification such that the battery power is around 57.72 Wh. The optimal use of the battery is 80% of the total battery power that is 46.176 Wh. With a power of 46,176 Wh, the battery can turn on the LED strip light with a 4.8 W power specification for 9.62 h. The test results showed that the telescopic lamp endurance met the expected specifications. The real consumed power by the LED strips was around 1.9 W. The charging test using solar panels with 12 Wp specifications showed that it will be fully charged in around 3.8 h. However, the performance of the telescopic lamp, especially in the charging process, is affected by the environment condition, such as sunlight intensity, ambient temperature, and humidity.

Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator Hendri Maja Saputra; Zainal Abidin; Estiko Rijanto
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 1 (2012)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2012.v3.9-16

Driver mechanism with two degree of freedom (MP 2-DK) is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY) disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.

Three axis deviation analysis of CNC milling machine Dalmasius Ganjar Subagio; Ridwan Arief Subekti; Hendri Maja Saputra; Ahmad Rajani; Kadek Heri Sanjaya
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 10, No 2 (2019)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2019.v10.93-101

The manufacturing technology has developed rapidly, especially those intended to improve the precision. Consequently, increasing precision requires greater technical capabilities in the field of measurement. A prototype of a 3-axis CNC milling machine has been designed and developed in the Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI). The CNC milling machine is driven by a 0.4 kW servo motor with a spindle rotation of 12,000 rpm. This study aims to measure the precision of the CNC milling machine by carrying out the measurement process. It is expected that the CNC milling machine will be able toperform in an optimum precision during the manufacturing process. Accuracy level testing is done by measuring the deviations on the three axes namely X-axis, Y-axis, and Z-axis, as well as the flatness using a dial indicator and parallel plates. The measurement results show the deviation on the X-axis by 0.033 mm, the Y-axis by 0.102 mm, the Z-axis by 0.063 mm, and the flatness of the table by 0.096 mm, respectively. It is confirmed that the deviation value is within the tolerance standard limits set by ISO 2768 standard. However, the calibration is required for this CNC milling machine to achieve more accurate precision. Furthermore, the design improvement of CNC milling machine and the application of information technology in accordance with Industry 4.0 concept will enhance the precision and realibility.

Pengurangan Subsidi BBM dan Polusi Udara Melalui Kebijakan Program Konversi dari BBM ke BBG Untuk Kendaraan di Propinsi Jawa Barat Vita Susanti; Agus Hartanto; Ridwan Arief Subekti; Hendri Maja Saputra; Estiko Rijanto; Abdul Hapid
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 1, No 2 (2010)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2010.v1.43-52

The number of vehicle that use oil (BBM) is increasing every year in Indonesia while national oil reserve become smaller, so that the oil should be imported. The impact of using oil are increasing subsidy and air pollution. Thus, it is now becoming important to replace oil with another environmentally friendly energy, one of them is gas (BBG). Based on the number of vehicle and infrastructure in gas pipeline, part of northern West Java potentially can be chosen for the implementation of conversion program to gas (BBG). The number of vehicle in potential regions such as Depok, Cibinong, Bogor, Bekasi, Cikarang, Karawang, Purwakarta, Cirebon, and Bandung are around 875,505 units. From these data, we simulated the potential profit to be gained each year by converting 10% for the first year and increasing it to 5% for every year. By investing 3.16 trillion for conversion, 14.9 trillion can be achieved in the form of fuel subsidy savings. In addition, emission reduction converted to a CDM (clean development mechanism) can become local revenues. Total CDM generated during 5 years predicted is of U.S $ 772,385. From this study, it can be concluded that converting oil (BBM) to gas (BBG) is highly beneficial.

DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform Roni Permana Saputra; Rizqi Andry Ardiansyah; Midriem Mirdanies; Arif Santoso; Aditya Sukma Nugraha; Anwar Muqorobin; Hendri Maja Saputra; Vita Susanti; Estiko Rijanto
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 2 (2011)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2011.v2.85-94

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform.

Accuracy analysis of geometrical and numerical approaches for two degrees of freedom robot manipulator Hendri Maja Saputra; Midriem Mirdanies; Estiko Rijanto
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 7, No 2 (2016)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2016.v7.105-112

Analysis of algorithms to determine the accuracy of aiming direction using two inverse kinematic approaches i.e. geometric and numeric has been done. The best method needs to be specified to precisely and accurately control the aiming direction of a two degrees of freedom (TDOF) manipulator. The manipulator degrees of freedom are azimuth (Az) and elevation (El) angles. A program has been made using C language to implement the algorithm. Analysis of the two algorithms was done using statistical approach and circular error probable (CEP). The research proves that accuracy percentage of numerical method is better than geometrical method, those are 98.63% and 98.55%, respectively. Based on the experiment results, the numerical approach is the right algorithm to be applied in the TDOF robot manipulator.

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