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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal Studi Sosial Program Pascasarjana P-IPS Mesin
Indrawanto Indrawanto
Bandung Institute Of Technology
Electrical & Electronics Engineering Mechanical Engineering Social Sciences

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ROBUST IMPEDANCE ADAPTIVE CONTROL FOR CONSTRAINED MOTIONS Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 17, No 2 (2002)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (714.373 KB)

Abstract

This paper presents a robust adaptive impedance control for robot manipulators. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used to establish a global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the force tracking performance of the proposed controller.
PEMODELAN DAN SIMULASI SISTEM PEMBANGKIT TURBIN GAS PLTGU TANJUNG PRIOK Indrawanto, Indrawanto; Cahyono, H
Mesin Vol 24, No 2 (2009)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (482.766 KB)

Abstract

This paper presents the modeling and simulation of the gas turbine generating system of Tanjung Priok Combined Cycle Power Plant. The gas turbine model is approximated using steam turbine systems. The model developed only accepts load changes as input to the system. Three types of control systems; speed-droop governor, speed-droop governor with integral control, and speed-droop governor with integral and derivative control have been tried to control the frequency of the system. The simulation results show that, in the presence of load changes, the speed-droop governor with integral and derivative control is able to bring back the system frequency to 50 Hz without oscillation.
KENDALI ADAPTIF TANGGUH TERDESENSTRALISIR UNTUK MANIPULATOR ROBOT Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 14, No 3 (1999)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (418.365 KB)

Abstract

This paper presents a robust decentralized adaptive controller for robot manipulators. The proposed controller does not require special knowledge of the robot dynamics model. Each joint of the manipulator is controlled by using an adaptive PD feedback controller and an adaptive gain acceleration feedforward. An auxiliary input is introduced to improve the convergence rate and to improve the robustness to torque disturbances and to a class of unmodelled dynamics. Lyapunov-based Model Reference Adaptive Control is used to establish the global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the tracking performance of the proposed controller.
METODE DISKUSI KELOMPOK UNTUK MENINGKATKAN NILAI KARAKTER PESERTA DIDIK DALAM PEMBELAJARAN IPS Indrawanto Indrawanto; Pargito Pargito; Maskun Maskun
Jurnal Studi Sosial / Journal of Social Studies Vol 2, No 4 (2014): Jurnal Studi Sosial
Publisher : Faculty of Teacher Training and Education, University of Lampung

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Abstract

The research aims to know the use of discussion method to increase the students character value. The method used Classroom Action Research. The objects were 30 students. The data of the students character value were taken from observation sheet. Whereas, the data of the teachers ability was taken from IPKG sheet.The result was proven from the increasing of the students character value from a cycle to another cycle. At the first cycle the students who achieved the character value only 10 students. At the second cycle it increased to 15 students, and the last cycle, it increased to 26 students. Then, the learning and teaching process that was conducted by teacher from one cycle to another cycle was proved from the first cycle the teacher got 64, at the second cycle got 74, and at the third cycle got 83.Penelitian ini bertujuan untuk mengetahui bagaimanakah penggunaan metode diskusi kelompok untuk meningkatkan nilai karakter peserta didik. Metode yang digunakan adalah Penelitian Tindakan Kelas. Objek Penelitian sebanyak 30 siswa. Data tentang nilai karakter peserta didik diperoleh melalui lembar observasi yang dilakukan oleh observer ketika guru melakuakan pembelajaran. Sedangkan data tentang kemampuan pelaksanaan pembelajaran guru diperoleh melalui Lembar IPKG. Hasil penelitian menunjukkan bahwa penggunaan metode diskusi kelompok dapat meningkatkan nilai karakter peserta didik dalam pembelajaran IPS. Hal ini dapat dibuktikan dengan Peningkatan nilai karakter peserta didik dari siklus ke siklus. Pada siklus I peserta didik yang mencapai nilai karakter hanya 10 siswa. Pada siklus II meningkat menjadi 15 siswa, dan pada siklus III meninggkat menjadi 26 siswa. Mengenai pelaksanaan pembelajaran yang dilakukan oleh guru dari siklus ke siklus juga dapat dilihat pada siklus I guru memperoleh nilai 64, pada siklus II memperoleh 74, dan pada siklus III memperoleh nilai 83.Kata kunci: diskusi kelompok, nilai karakter, pembelajaran ips
KENDALI ADAPTIF TANGGUH TERDESENSTRALISIR UNTUK MANIPULATOR ROBOT Indrawanto Indrawanto; J Swevers; H. Van Brussel
Mesin Vol. 14 No. 3 (1999)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents a robust decentralized adaptive controller for robot manipulators. The proposed controller does not require special knowledge of the robot dynamics model. Each joint of the manipulator is controlled by using an adaptive PD feedback controller and an adaptive gain acceleration feedforward. An auxiliary input is introduced to improve the convergence rate and to improve the robustness to torque disturbances and to a class of unmodelled dynamics. Lyapunov-based Model Reference Adaptive Control is used to establish the global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the tracking performance of the proposed controller.
ROBUST IMPEDANCE ADAPTIVE CONTROL FOR CONSTRAINED MOTIONS Indrawanto Indrawanto; J Swevers; H. Van Brussel
Mesin Vol. 17 No. 2 (2002)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents a robust adaptive impedance control for robot manipulators. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used to establish a global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the force tracking performance of the proposed controller.
PEMODELAN DAN SIMULASI SISTEM PEMBANGKIT TURBIN GAS PLTGU TANJUNG PRIOK Indrawanto Indrawanto; H Cahyono
Mesin Vol. 24 No. 2 (2009)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents the modeling and simulation of the gas turbine generating system of Tanjung Priok Combined Cycle Power Plant. The gas turbine model is approximated using steam turbine systems. The model developed only accepts load changes as input to the system. Three types of control systems; speed-droop governor, speed-droop governor with integral control, and speed-droop governor with integral and derivative control have been tried to control the frequency of the system. The simulation results show that, in the presence of load changes, the speed-droop governor with integral and derivative control is able to bring back the system frequency to 50 Hz without oscillation.
Five-axis parallel mechanism system (PMS) CNC partial link control system based on modified inverse kinematic of 6-DOF UPS parallel manipulator Nur Jamiludin Ramadhan; Indrawanto Indrawanto; Hoe Dinh Nguyen
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 14, No 1 (2023)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2023.v14.1-10

Abstract

This paper presents a control system algorithm for a five-axis parallel mechanism system (PMS) CNC milling machine based on a 6-DOF Stewart platform parallel manipulator with a universal-prismatic-spherical (UPS) configuration. The control system reads the G-Code commands as standard CNC machine language, then extract data points and interpolates them to generate the robot trajectory patterns as motion references. Then, the control system uses the modified inverse kinematic equation to determine the length of each link to move the end effector to track the trajectory patterns from the previous G-code extraction process. The inverse kinematic equation is modified especially for the five-axis PMS CNC milling machine by including machine-offset and tools-offset parameters so it will be easier for the control system to implement the kinematic equation. As expected, the system simulation results successfully followed the G-Code program moving commands. The average error of the length control system is 0,1 mm, while the average error of the length change rate control system is 1,8 mm/s. The maximum error is 26.9 mm was caused by the system's inability to follow the motion profile in transient. It can be concluded that 6-DOF Stewart platform parallel structures,which provide better performance than serial structures, can be implemented as a new concept for the motion mechanism of five-axis CNC milling machines. The five-axis PMS CNC milling machine also promises better performance than conventional five-axis gantry structures CNC.
Co-Authors Brussel, H. Van H Cahyono H Cahyono, H H. Van Brussel Hoe Dinh Nguyen J Swevers Maskun Maskun Nur Jamiludin Ramadhan Pargito Pargito Swevers, J