Article Per Year (5 Year)
p-Index From 2020 - 2025
3.143
P-Index
This Author published in this journals
All Journal Jurnal Teknik Industri Bulletin of Electrical Engineering and Informatics Jurnal Teknologi Informasi dan Ilmu Komputer Panrita Abdi - Jurnal Pengabdian pada Masyarakat Abdi Dosen : Jurnal Pengabdian Pada Masyarakat Journal of Robotics and Control (JRC) Jurnal Pengabdian Polinema Kepada Masyarakat Jurnal ELTEK ELPOSYS: Jurnal Sistem Kelistrikan
Ronilaya, Ferdian
Unknown Affiliation
Religion Aerospace Engineering Humanities Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering Public Health Social Sciences Other

Published : 21 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search
Journal : Journal of Robotics and Control (JRC)

 1 
Modeling and Control of an 8-Legged Stewart Platform Using Null-Space Control for Precise Motion Under Actuator Constraints Siradjuddin, Indrazno; Fitria, Ida Lailatul; Al Azhar, Gillang; Riskitasari, Septyana; Ronilaya, Ferdian; Wicaksono, Rendi Pambudi
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.25920

Abstract

This paper investigates the modeling, control, and redundancy resolution of an 8-legged Stewart platform, emphasizing the use of null-space control to achieve precise trajectory tracking while adhering to actuator constraints. The proposed control framework combines a Proportional-Integral-Derivative (PID) controller with null-space projection to exploit the platform’s inherent redundancy for secondary objectives, such as singularity avoidance, energy optimization, and enhanced fault tolerance. A clamping strategy ensures that actuator lengths remain within operational limits, thereby preventing mechanical failures. Simulation results demonstrate significant error reduction in both position and orientation, even under strict actuator constraints. Specifically, the system achieved exponential convergence to the desired pose within 3 s, with a maximum position error of less than 1 × 10−3 m and orientation error below 5 × 10−4 rad. Actuator efficiency was also enhanced, as the algorithm dynamically redistributed efforts among actuators to avoid overloading any single leg. While energy consumption was not explicitly optimized in this study, the framework provides a foundation for future work in minimizing energy usage through advanced secondary objectives. Stability is analyzed rigorously using Lyapunov’s direct method. Compared to traditional six-legged platforms, the 8- legged design offers superior flexibility and adaptability, making it particularly suitable for applications in flight simulators, robotic surgery, and industrial automation where precision and reliability are critical. However, the proposed approach has certain limitations. For instance, the current implementation assumes ideal actuator dynamics and does not account for uncertainties such as friction, backlash, or external disturbances. Additionally, the clamping strategy may introduce computational overhead, potentially impacting real-time performance in highly dynamic scenarios. Future research could address these limitations by incorporating adaptive or robust control techniques and optimizing computational efficiency. This work advances the design and control of redundant parallel manipulators, offering practical insights into dealing with physical limitations and providing a foundation for future innovations in high-performance motion control systems.
Co-Authors A.A. Ketut Agung Cahyawan W Adhisuwignjo, Supriatna Adhitya Bhawiyuga Ahmad Hermawan Ajeng Bening Kusumaningtyas Al Azhar, Gillang Amalia, Zakiyah Anastasia Merry Christine Arief Prasetyo Arizal Maulana Pratama Arizal Maulana Pratama Asrori Asrori Awan Setiawan Bagus Kurniansyah, Izra Budi Eko Prasetyo Dahnial Syauqy Dodik Widya Adhitama Ekojono Ekojono Erfan Rohadi Fahmi Hakim, Muhammad Farhan Dhiya Ulhaq Fitria, Ida Lailatul Galih Hardika Sakti Hafid Abibie Ilham Agung Wicaksono Indrazno Siradjuddin IRWAN HERYANTO ERYK Irwan Heryanto/Eryk Izra Bagus Kurniansyah Kusumaningtyas, Ajeng Bening Lie Jasa Lukman Hakim M. Naufal Fariz Muhfid M. Noor Hidayat M. Noor Hidayat Masramdhani Saputra Mohammad Noor Hidayat Muhammad Fahmi Hakim Nursal, Elan Causa Rahmania Putri Yulissa Raka Admiral Abdurrahman Ratna Ika Putri Rendi Pambudi Wicaksono Ricky Setyawan Riskitasari, Septyana Rosa Andrie Asmara Rudy Ariyanto Sapto Wibowo Sapto Wibowo Satria Luthfi Hermawan Sigi Syah Wibowo Sigit Setya Wiwaha Siradjuddin, Indrazno Slamet Nurhadi Sri Wahyuni Dali Sukamdi Sulistyowati Syamsiana, Ika Noer Widhy Hayuhardhika Nugraha Putra