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All Journal Jurnal Elektronika Telekomunikasi & Computer BJRM (Bongaya Journal of Research in Management) Ceddi Journal of Education Vokatek : Jurnal Pengabdian Masyarakat Seminar Nasional Hasil Penelitian LP2M UNM Information Technology Education Journal Journal of Embedded Systems, Security and Intelligent Systems Faedah: Jurnal Hasil Kegiatan Pengabdian Masyarakat Indonesia Nusantara Mengabdi kepada Negeri International Journal of Education, Vocational and Social Science Karya Nyata: Jurnal Pengabdian Kepada Masyarakat Jurnal Abdi Masyarakat dan Pemberdayaan Inovatif
Sutarsi Suhaeb
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Journal : Journal of Embedded Systems, Security and Intelligent Systems

 1 
Implementation of ESP32-Based Web Host For Control and Monitoring of Robotic Arm Sutarsi Suhaeb; Ahmad Risal
Journal of Embedded Systems, Security and Intelligent Systems Vol 5, No 3 (2024): November 2024
Publisher : Program Studi Teknik Komputer

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59562/jessi.v5i3.5184

Abstract

In the modern technological era, the Internet of Things (IoT) plays a significant role in developing robotic control systems, including robotic arms. This study explores the implementation of an ESP32-based webhost to control and monitor robotic arm operations in real time via a web interface connected to a Wi-Fi network. The system is designed to provide ease of access, reliable performance, and low latency, making it suitable for education, technical training, and other applications. Testing revealed that the system delivers fast response times, high stability under moderate loads, and an intuitive interface for users with varying skill levels. These findings present opportunities for further development, including integration with cloud-based technologies and data security enhancements
Adaptive Pulse-Width Modulation Algorithm for Energy-Efficient Control of Robotic Arm Actuators Sutarsi Suhaeb; Ahmad Risal
Journal of Embedded Systems, Security and Intelligent Systems Vol 6, No 3 (2025): September 2025
Publisher : Program Studi Teknik Komputer

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59562/jessi.v6i3.10318

Abstract

The development of energy-efficient robotic systems has become increasingly important, particularly in servo-driven robotic arms where continuous PWM signals lead to unnecessary energy loss and thermal stress. This study proposes an adaptive pulse-width modulation (PWM) algorithm designed to activate servo signals only during motion phases and automatically deactivate them once the target position is reached. A four-degree-of-freedom robotic arm prototype was developed using an ESP32 microcontroller, MG90S servos, and ACS712-based current monitoring to evaluate power efficiency under conventional continuous PWM and the proposed adaptive control. Experimental results demonstrate a 28–33% reduction in average power consumption, a decrease of 6–8 °C in servo operating temperature, and the preservation of positional accuracy within ±5%. These findings confirm that significant energy savings and thermal improvements can be achieved without modifying hardware components. The proposed algorithm offers a practical, lightweight, and software-based optimization approach suitable for educational, research, and low-power robotic applications. This work introduces a distinct adaptive activation strategy that fully disables PWM in steady-state conditions, representing a low-cost and effective contribution to sustainable servo control.
Co-Authors A. Syahrul ABD Rahman J Agus Agus Ahmad Risal Andi Syamsul Bahri Albar Anita Candra Dewi Asis Nojeng Atmasani, Dian Badaruddin Badaruddin Elfira Makmur Erawati Erawati Helmy, Ahnaf Riyandirga Ariyansyah Putra Hendra Jaya M. Ma'ruf Idris Mantasia Mantasia Marlinda R. Pagayang Millenia Asmara Muhtar Muh. Ma'ruf Idris Ninik Rahayu Ashadi Nur Alim Nur Syamsinar Munir Nurfauziah Nuridayanti Putri Ida Sunaryati Rahmatiah Rahmatiah Ridwansyah Ridwansyah Ridwansyah Saharuddin Sapto Haryoko Satria Gunawan Zain Sri Novita. A Sulistiawaty Syafar, Faisal Tirza Tiana Wulandari Ummiati Rahmah Ummiati Rahman WAHYUDI Yasser Abd Djawad