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All Journal Journal of Robotics and Control (JRC)
Dhiya Uddin Rijalusalam
Universitas Muhammadiyah Yogyakarta
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller Dhiya Uddin Rijalusalam; Iswanto Iswanto
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25121

Abstract

The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.
Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot Iswanto Suwarno; Wiwin A. Oktaviani; Yosi Apriani; Dhiya Uddin Rijalusalam; Anish Pandey
Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i1.11528

Abstract

The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.
Co-Authors Anish Pandey Apriani, Yosi Iswanto Iswanto Iswanto Suwarno Wiwin A. Oktaviani