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All Journal ComEngApp : Computer Engineering and Applications Journal JTEV (Jurnal Teknik Elektro dan Vokasional Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Emitor: Jurnal Teknik Elektro Annual Research Seminar JURNAL NASIONAL TEKNIK ELEKTRO Jurnal ELTIKOM : Jurnal Teknik Elektro, Teknologi Informasi dan Komputer Jusikom : Jurnal Sistem Komputer Musirawas Dinamisia: Jurnal Pengabdian Kepada Masyarakat Journal of Information Technology and Computer Engineering KOMPUTIKA - Jurnal Sistem Komputer GERVASI: Jurnal Pengabdian kepada Masyarakat Jurnal Teknologi Terapan Jurnal Teknologi Elekterika Jurnal Generic REKA ELKOMIKA: Jurnal Pengabdian kepada Masyarakat J-Innovation Jurnal Fokus Elektroda (Energi Listrik, Telekomunikasi, Komputer, Elektronika dan Kendali) Jurnal Rekayasa elektrika ABDIKOM Emitor: Jurnal Teknik Elektro
Kemahyanto Exaudi
Fakultas Ilmu Komputer Universitas Sriwijaya
Aerospace Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Mathematics Mechanical Engineering Social Sciences Other

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Journal : Journal of Information Technology and Computer Engineering

 1 
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

Abstract

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.
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

Abstract

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.
Co-Authors Abdul Wahid Sempurna Abdul Wahid Sempurna Abdul Wahid Sempurna Abdurahman Abdurahman Ades Harafi Duri Adi Hermansyah Aditya P.P Prasetyo Aditya P.P. Prasetyo Aditya PPP Aditya Putra Perdana Prasetyo Ahmad Fali Oklilas Ahmad Fali Oklilas Ahmad Rifai Ahmad Zarkasi Ahmad Zarkasi Alif Almuqsit Almuqsit, Alif B Azhar, Iman Saladin Bagus Prasetyo Bangun Sudrajat Bangun Sudrajat Barzan Trio Putra Brema Alfaretz Tarigan Buchari, M. Ali Dedy Kurniawan Deris Stiawan Desyandri Desyandri Dody Firmansyah Dudifa, Aldi Fakhrurroja, Hanif Fatimah, Sayyidatina Fitriyanto, Megi Hadir Kaban Huda Ubaya Huda Ubaya Huda Ubaya Ichsan Mahjud Izzati Millah Hanifah Jorena Jorena M. Dimas Firmansyah Mileandira, Leviarta Monica Ayu Amaria Muhammad Ajran Saputra Muhammad Furqon Rabbani Nabillah Selva Setiawan Nadhira, Wardha Osvari Arsalan Pingki Pingki Prasetiyo, Bagus Prasetyo, Aditya P P Prasetyo, Aditya P.P. Prasetyo, Aditya PP Prasetyo, Aditya Putra Perdana Purwita Sari Purwita Sari Purwita Sari Purwoko, Agus Putra Perdana Prasetyo, Aditya R Rendyansyah Rahmad Fadli Isnanto Rahmat Budiarto Rahmat Fadli Isnanto Rahmatullah, Ikang Rendyansyah Rendyansyah Rendyansyah Rendyansyah Rendyansyah Ricy Firnando Rido Zulfahmi Riyuda, Rafki Sahasika Romadhona, Londa Arrahmando Rony, Zahara Tussoleha Rossi Passarella Roswitha Yemima Tiur Mediswati Sari, Komang Mita Sarmayanta Sembiring Sarmayanta Sembiring Sarmayanta Sembiring Sayyidatina Fatimah Sri Desy Siswanti Sri Desy Siswanti Sry Desy Siswanti Sukemi Sutarno Sutarno Tharisa Antya Perdani Tri Wanda Septian Tri Wanda Septian, Tri Wanda Vindriani, Marsella Wahyu Gunawan Winda Kurnia Sari