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Control System for U-Arm Robot Arm Movement with Linear Gripper Based on Inverse Kinematic Method Prasetyo, Aditya Putra Perdana; Rahmatullah, Ikang; Exaudi, Kemahyanto; Rendyansyah, Rendyansyah
JITCE (Journal of Information Technology and Computer Engineering) Vol 8 No 2 (2024): Journal of Information Technology and Computer Engineering
Publisher : Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jitce.8.2.97-103.2024

This research presents the development of a U-Arm model robot with three degrees of freedom, utilizing Inverse Kinematic calculations. The novelty of this project lies in its precise control of the robot arm's movements through advanced kinematic algorithms. Inverse Kinematics is a mathematical process used to determine the joint angles of the robot arm from known (x, y, z) coordinates of the end-effector and the lengths of each link. The robotic arm consists of four links with lengths of 8.2 cm, 15 cm, 16 cm, and 18.4 cm, respectively, and is equipped with a gripping module for object manipulation. The methodology involves calculating the joint angles required for the desired end-effector position, ensuring accurate and efficient movement. Testing results indicate an average coordinate error of 7.13%, demonstrating the system's precision and reliability. This error rate provides valuable insights into the performance and potential areas for improvement in the kinematic model. Additionally, this research includes the development of a program to control the servo motor speed using For and delay functions. This program enhances the robot's operational efficiency by allowing precise speed adjustments, which are crucial for various applications. Overall, this study contributes to the field of robotics by offering a detailed analysis of kinematic control and program development for a multi-link robotic arm, highlighting its potential for practical applications.

Implementation of Fuzzy Method towards Hydroponic Smart Showcase Innovation Sembiring, Sarmayanta; Exaudi, Kemahyanto; Prasetyo, Aditya PP; Rendyansyah, Rendyansyah; Nadhira, Wardha
Emitor: Jurnal Teknik Elektro Vol 24, No 3: November 2024
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v24i3.4043

Hydroponics is a technique that allows easy cultivation of fresh and hygienic vegetables, even with limited space. Recent innovations in hydroponic development have resulted in a smart showcase prototype, which is controlled using Sugeno fuzzy techniques. This prototype uses a DC fan to maintain a stable temperature and humidity level. This invention is both ecologically friendly and portable, making it suitable for a wide range of users, including apartment residents. Experimental results using the fuzzy method show that this prototype can effectively support indoor hydroponic techniques, with fan rotation ranging from 180 to 255 rpm based on variations in room temperature and humidity. The showcase successfully maintained a stable temperature range of 28–30 °C and a humidity of 60–70% RH. In addition, out of 12 vegetable samples tested for 14 days, 7 kale stems showed significant growth. Overall, this smart showcase prototype offers the potential to bring hydroponics indoors and promote fresh vegetable cultivation.

Android Smartphone Application to Control Home Lights Based on ESP8266 and IoT Rendyansyah, Rendyansyah; Yoggi Rahmawan
Emitor: Jurnal Teknik Elektro Vol 24, No 3: November 2024
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v24i3.4072

A house often lived in due to someone going to work all day or even on holiday outside the city. There must be a special strategy to activate the lights at night and deactivate the lights during the day. A smart device that can help as a position to turn on and turn off the house lights. Home lights can be controlled remotely using an Android smartphone and IoT internet network. The system is designed on a prototype scale; there are four AC-powered lamps, namely two lamps, each installed inside and outside the house. The ESP8266 microcontroller is a data processing medium for communication from Android smartphones to lighting devices. Utilizing the IoT system to connect the smartphone to the Internet and the ESP8266 forms a system that can be accessed remotely. The Android application on the smartphone has four buttons, namely from light-1 to light-4. All lights can turn on and off on command. When testing a system connected to Firebase, the system can respond well and from a long distance while connected to the Internet. The system response in turning the lights on and off is ±4 seconds, and the longest distance is ±10 km. All control buttons in this system application can function properly according to their function to control home lights by sending data in the form of logic high or logic low to Firebase. This Android-based home light control uses the Internet network, making it easier to turn on or off the house lights while connected to the Internet network.

Control System for U-Arm Robot Arm Movement with Linear Gripper Based on Inverse Kinematic Method Prasetyo, Aditya Putra Perdana; Rahmatullah, Ikang; Exaudi, Kemahyanto; Rendyansyah, Rendyansyah
JITCE (Journal of Information Technology and Computer Engineering) Vol. 8 No. 2 (2024)
Publisher : Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jitce.8.2.97-103.2024

This research presents the development of a U-Arm model robot with three degrees of freedom, utilizing Inverse Kinematic calculations. The novelty of this project lies in its precise control of the robot arm's movements through advanced kinematic algorithms. Inverse Kinematics is a mathematical process used to determine the joint angles of the robot arm from known (x, y, z) coordinates of the end-effector and the lengths of each link. The robotic arm consists of four links with lengths of 8.2 cm, 15 cm, 16 cm, and 18.4 cm, respectively, and is equipped with a gripping module for object manipulation. The methodology involves calculating the joint angles required for the desired end-effector position, ensuring accurate and efficient movement. Testing results indicate an average coordinate error of 7.13%, demonstrating the system's precision and reliability. This error rate provides valuable insights into the performance and potential areas for improvement in the kinematic model. Additionally, this research includes the development of a program to control the servo motor speed using For and delay functions. This program enhances the robot's operational efficiency by allowing precise speed adjustments, which are crucial for various applications. Overall, this study contributes to the field of robotics by offering a detailed analysis of kinematic control and program development for a multi-link robotic arm, highlighting its potential for practical applications.

Implementasi Teknologi Keramba Jaring Apung Otomatis Untuk Meningkatkan Budidaya Ikan Di Desa Ekowisata Burai Dwijayanti, Suci; Suprapto, Bhakti Yudho; Hikmarika, Hera; Irmawan, Irmawan; Rendyansyah, Rendyansyah; Fitria, Syarifa; Herlina, Herlina; Agustina, Sri
Suluh Abdi Vol 7, No 1 (2025): SULUH ABDI
Publisher : Universitas Muhammadiyah Palembang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32502/sa.v7i1.9752

Desa Burai, Ogan Ilir, merupakan desa ekowisata dengan potensi sumber daya alam berupa Sungai Kelekar. Permasalahan utama yang dihadapi masyarakat mitra Kelompok Sadar Wisata (Pokdarwis) Burai Indah adalah pengelolaan keramba jaring apung (KJA) yang masih dilakukan secara tradisional, yang mengarah pada rendahnya produktivitas ikan. Pengabdian masyarakat ini bertujuan untuk meningkatkan produktivitas budidaya ikan di Desa Burai dengan solusi teknologi yang ditawarkan adalah KJA pintar. KJA yang dikembangkan ini dilengkapi dengan teknologi pemantauan kualitas air menggunakan sensor suhu dan pH yang kemudian juga akan dilengkapi sistem pemberian pakan otomatis. Kegiatan pengabdian ini mencakup analisis situasi, pembuatan dan pemasangan KJA, serta pelatihan dan pendampingan kepada kelompok pengelola wisata air. Penerapan KJA pintar diharapkan dapat meningkatkan produktivitas ikan, mendukung keberlanjutan ekowisata, dan memberdayakan masyarakat. Selain itu, kegiatan ini juga melibatkan mahasiswa yang mendapatkan pengalaman praktis dalam bidang teknik elektro. Hasil pelaksanaan menunjukkan bahwa KJA pintar mampu meningkatkan efisiensi dalam pengelolaan budidaya ikan dan meningkatkan kapasitas masyarakat dalam memanfaatkan teknologi untuk kelestarian lingkungan.

4-DoF Robotic Arm for Picking and Moving RGB Color-Based Objects Using the Support Vector Machine Method Rendyansyah, Rendyansyah; Irmawan; Caroline
Emitor: Jurnal Teknik Elektro Vol 25, No 3: November 2025
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v25i3.13552

This study discusses designing and implementing an RGB color pattern recognition system using the Support Vector Machine (SVM) method on a 4-DoF robotic arm to perform autonomous object transfer tasks. This system integrates computer vision, artificial intelligence, and trajectory planning technologies to improve the adaptability and precision of the robot manipulator's movements. The pattern recognition process is done through image acquisition using a camera mounted on a support pole, then extraction and normalizing color values in the R, G, and B channels. These RGB values are input features for color pattern classification using SVM with Radial Basis Function (RBF) kernel and regulation parameter C = 100. The training results show that the SVM model can classify three color classes (red, yellow, and blue) with an accuracy rate of 100%. The classification data is then used to control the movements of three robots with red, orange, and blue arms, each tasked with picking up and moving objects of the corresponding color. The robot trajectory was planned using the Cubic Trajectory method, which produced smooth and coordinated movements between joints, with an average task completion time of ±10 seconds. Based on the results of 30 trials, the system showed a success rate of 96.67%, with only one failure due to gripper position inaccuracy. The results of this study indicate that the combination of the SVM and Cubic Trajectory methods can improve the efficiency and accuracy of robotic arm systems in color-based object recognition and manipulation, which has the potential to be applied to artificial intelligence-based industrial automation systems.

Pelatihan Mobile Robot Pengikut Garis: Upaya Peningkatan Minat Siswa SMP terhadap Robotika Rendyansyah, Rendyansyah; Hikmarika, Hera; Caroline, Caroline; Rahmawati, Rahmawati; Hermawati, Hermawati; Bayusari, Ike
Yumary: Jurnal Pengabdian kepada Masyarakat Vol. 6 No. 2 (2025): Desember
Publisher : Penerbit Goodwood

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35912/yumary.v6i2.4611

Purpose: This line-following mobile robot training program aims to foster junior high school students' interest and motivation in robotics, equip them with basic knowledge and skills, and encourage the development of sustainable robotics learning in schools. Methodology: This training method involves preparation stages, socialization and selection of participants, implementation of interactive learning, starting with the basics of robotics and moving on to programming and testing, evaluating student results and interests, and further mentoring, including forming a robotics club. Results: The training increased student enthusiasm and participation, strengthened conceptual understanding and skills in assembling and programming robots, and positively impacted students' technical and soft skills. Conclusions: This training effectively improves junior high school students' digital literacy and robotics skills with structured and fun methods, while supporting the development of sustainable robotics learning in schools. Limitations: Limitations include the limited number of tools, short training time, variation in student abilities, and incomplete evaluation of soft skills and long-term impacts. Contribution: This program increases students' interest, knowledge, and robotics skills, builds an innovative technology learning culture, and becomes a learning model for further activities.

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