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All Journal Sinergi Jurnal Teknologi Elektro TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer Jurnal Abdi Masyarakat (JAM) Jurnal Ilmu Teknik dan Komputer Indonesian Journal of Electrical Engineering and Computer Science Jurnal Abdidas International Journal of Advanced Technology in Mechanical, Mechatronics and Material (IJATEC) Journal FORTEI-JEERI International Journal of Engineering Continuity Jurnal Informatika: Jurnal Pengembangan IT
Muhammad Hafizd Ibnu Hajar
Universitas Mercu Buana
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Public Health Social Sciences Other

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Journal : International Journal of Engineering Continuity

 1 
The Role of Block Particles Swarm Optimization to Enhance The PID-WFR Algorithm Heru Suwoyo; Abdurohman Abdurohman; Yifan Li; Andi Adriansyah; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar
International Journal of Engineering Continuity Vol. 1 No. 1 (2022): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1157.655 KB) | DOI: 10.58291/ijec.v1i1.37

Abstract

In the conventional Proportional Integral Derivation (PID) controller, the parameters are often adjusted according to the formulas and actual application. However, this empirical method will bring two disadvantages. First, testing the program takes much time and usually needs help to reach the optimal solution. Second, the PID parameters will not adapt to the new environment when the situation changes. This paper proposed a method by employing a Block Particles Swarm Optimization (BPSO) to enhance the conventional Proportional Integral Derivation (PID) algorithm to overcome the mentioned disadvantages. The genetic algorithm (GA) first optimized the PID parameters. However, its optimization time is relatively long. Then, a Block Particle Swarm Optimization (BPSO) algorithm is designed to solve the problem of long optimization time. This method was then applied to the wall-following robot problem by realistically simulating it to confirm the performance. After Compared with conventional methods, the proposed method shows a relatively stable solution.
Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Ibnu Hajar, Muhammad Hafizd; Dinata, Rizky; Triwidya Mochtar, Thathit Gumilar; Yusuf, Muhammad; Hutomo, Fajri Rezki
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.148

Abstract

The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.
Co-Authors Abdurohman Abdurohman Adi Juliyanto Ahmad Firdausi Ahmad Rasikh Bahrain Akhmad Wahyu Dani Akhmad Wahyu Dani Akhmad Wahyu Dani, Akhmad Wahyu Alip Pandu Budiyanto Alvin Sepbrian Andi Adriansyah Andi Adriansyah Andi Adriansyah Andi Adriansyah Andrial Saputra Dinata, Rizky Eko Ihsanto Eko Ramadhan Eko Ramadhan Fadli Sirait Fauziah, Isti Febriandirza, Arafat Fina Supegina Freddy Artadima Silaban Galang Persada Nurani Hakim Gao Hongmin Hutomo, Fajri Rezki Indriyanti, Prastika Julpri Andika Ketty Siti Salamah Lukman Medriavin Silalahi Miharno, Satriyo Muhammad Yusuf Rachmat Muwardi Saputra, Yogi Ade Sari, Ovina Ambar Satriyo Miharno Setiyo Budiyanto Suwoyo, Heru Syarifudin Jupri Thong, Zhou Tian, Yingzhong Tong Zhou Trie Maya Kadarina Triwidya Mochtar, Thathit Gumilar Triyanto Pangaribowo Ulumudin, Mochammad Nawawi Yifan Li Yingzhong Tian Yingzhong Tian Yingzhong Tian Yingzhong Tian Yogi Ade Saputra Yudhi Gunardi Yudhi Gunardi Yudhi Gunardi Yulianto Wisnuputra Yuliza Yuliza Yuliza Yuliza Zendi Iklima Zhou Thong