Article Per Year (5 Year)
p-Index From 2021 - 2026
1.578
P-Index
This Author published in this journals
All Journal Teknika Jurnal Ampere Journal of Comprehensive Science
Amperawan Amperawan, Amperawan
Politeknik Negeri Sriwijaya
Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Library & Information Science

Published : 12 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 12 Documents
Search

 1   2 
Perancangan Dan Pola Gerak Robot Quadruped Menggunakan Metode Invers Kinematik Amperawan, Amperawan; Anisah, Masayu; Rasyad , Sabilal; Damsi , Faisal; Andrean , Sengon
Jurnal Ampere Vol. 9 No. 1 (2024): Jurnal Ampere
Publisher : Universitas PGRI Palembang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31851/ampere.v9i1.16015

Abstract

Quadruped robot adalah multi-legged robot yang digerakkan dengan 4 kaki menggunakan 12 dynamixel servo AX-12. Robot quadruped masih banyak dikembang oleh para peneliti dibidang lomba robot dan membantu manusia dalam bencana alam yang beresiko tinggi. Tujuan menggunakan Invers Kinematik pada robot quadruped untuk mempercepat gerakan dan waktu lebih singkat dalam navigasinya. pada penilitian ini digunakan metode invers kinematic pada pergerakan kaki robot quaruped. Selama ini cara menggerakkan kaki robot adalah dengan memberi nilai langsung pada setiap joint / sendi akibatnya membutuhkan waktu yang lebih lama. Permasalahan waktu yang lama diatasi menggunakan inverse kinematic. Inverse kinematics dapat mempercepat proses pendefinisian pose kaki dengan data masukkan berupa titik koordinat dan hasil keluaran berupa nilai untuk setiap joint (dendi robot). Robot menggunakan dynamixel servo AX-12 sebagai aktuator dan kerangka mengikuti pola susunan 3 DOF / 1 kaki. Penelitian ini gerakan robot dalam satu siklus langkah terdapat 4 step langkah dan mencari nilai sudut posisi kaki pada tiap stepnya. Pada penelitian ini rata-rata error ketepatan titik koordinat perstep kaki adalah sebesar 3.51%, pengujian jalan lurus maju, menunjukkan bahwa robot memiliki nilai simpangan rata-rata terbesar 7.14 %, sedangkan pada jalan lurus samping sebesar 3.76%. Kecepatan rata-rata robot sebesar 17,27 cm/detik dalam berjalan maju.
Implementasi Metode Waypoint pada Sistem Navigasi Automated Guided Vehicle (AGV) Arsy Ananta, Mohammad; Amperawan, Amperawan; Anisah, Masayu
Journal of Comprehensive Science Vol. 3 No. 12 (2024): Journal of Comprehensive Science (JCS)
Publisher : Green Publisher Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59188/jcs.v3i12.2922

Abstract

In the manufacturing and logistics industry, operational efficiency is key to increasing productivity and reducing operational costs. One technological innovation that plays an important role is the use of Automated Guided Vehicles (AGVs) equipped with GPS-based navigation systems. This research aims to implement a GPS navigation system on AGVs using the waypoint method with a focus on improving movement accuracy and vehicle route optimisation. The waypoint method is used to determine the coordinate points of the destination that must be reached by the AGV. Tests were conducted on several movement scenarios, which included setting waypoints on the trajectory. The test results show that the developed navigation system is able to reduce distance deviation and improve the consistency of AGV movement towards predetermined waypoints. In the first test, the AGV successfully reduced the deviation from 9 metres to 3 metres, demonstrating the system's ability to gradually adjust the position. The second and third tests also showed significant deviation reduction, reinforcing the reliability of this method in varied environments. The conclusion of this research is that the integration of GPS technology with the waypoint method is effective in improving AGV performance for applications in the manufacturing and logistics industries.
Co-Authors AA Sudharmawan, AA Al Rasyid, Johansyah Alfarizal, Niksen Andika, Destra Andrean , Sengon Anisah, Masayu Arsy Ananta, Mohammad Clinton, Billi Damsi , Faisal Dedy Ismail Dewi Permata Sari Evelina Evelina Farhan, Novendra Firmansyah, Anton I.J, Marcelinus Muslimin, Selamat Nur ‘Azah Nuranisah, Mourinda Nyayu Latifah Husni, Nyayu Latifah Rasyad , Sabilal Rasyad, Sabilal Sopian Soim, Sopian Sudirman Yahya Tresna Dewi Uswa, Khoirotun Yani , Herman