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All Journal Jurnal Elektronika dan Telekomunikasi Journal of Applied Engineering and Technological Science (JAETS)
Novalio Daratha
University of Bengkulu
Civil Engineering, Building, Construction & Architecture Computer Science & IT Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg Indra Agustian; Novalio Daratha; Ruvita Faurina; Agus Suandi; Sulistyaningsih Sulistyaningsih
Jurnal Elektronika dan Telekomunikasi Vol 21, No 1 (2021)
Publisher : LIPI Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/jet.v21.8-18

Abstract

This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based on color is carried out to observe error propagation in the implementation of manipulator on real system. The objects image captured by the digital camera were processed based on HSV-color model and the centroid coordinate of each object detected were calculated. These coordinates are end effector position target to pick each object and were placed to the right position based on its color. Based on the end effector position target, PD-PIJ inverse kinematics method was used to determine the right angle of each joint of manipulator links. The angles found by PD-PIJ is the input of DH forward kinematics. The process was repeated until the square end effector reached the target. The experiment of model and implementation to actual manipulator were analyzed using Probability Density Function (PDF) and Weibull Probability Distribution. The result shows that the manipulator navigation system had a good performance. The real implementation of color sorting task on manipulator shows the probability of success rate cm is 94.46% for euclidian distance error less than 1.2 cm.
Development of A Low-Cost Analyzer for Misalignment Identification Based on Vibration and Current Analysis Dedi Suryadi; Acraz M Bahrum; Novalio Daratha; Radzi Ambar
Journal of Applied Engineering and Technological Science (JAETS) Vol. 6 No. 1 (2024): Journal of Applied Engineering and Technological Science (JAETS)
Publisher : Yayasan Riset dan Pengembangan Intelektual (YRPI)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.37385/jaets.v6i1.5610

Abstract

This paper proposes a low-cost analyzer based on vibration and motor current signature analysis (MCSA) using the Arduino microcontroller. Misalignment identification on induction motors with disc coupling is considered a case study. Several methods for misalignment identification have already been conducted in previous research. However, there are still issues with making the identification more reliable and well-known for further investigation. This paper describes the design and development of an analyzer for misalignment identification that is easy to use and fast utilizing a low-cost Arduino microcontroller. Furthermore, this experimental rig also consists of several additional components such as; an induction motor, shaft, and bearing dan disk coupling. In this paper, misalignment distance variables were set in 0 mm, 0.5 mm, 1 mm, and 1.5 mm, and the motor speed was varied from 500 rpm to 1500 rpm with an increment of 100 rpm.  The misalignment characteristic was experimentally achieved using an analyzer with two sensors: an accelerometer for vibration analysis and a current sensor for MCSA. As a result, a low-cost analyzer for misalignment has been successfully developed. The results show that misalignment was explicitly defined by dominant peak frequencies at 3X rpm for vibration analysis and side bands around the main frequency for MCSA. Moreover, side-band frequency increases by increasing the misalignment distance.
Co-Authors Acraz M Bahrum Agus Suandi Dedi Suryadi Indra Agustian Radzi Ambar Ruvita Faurina Sulistyaningsih Sulistyaningsih