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All Journal JURNAL ELEKTRO
Ferry Rippun Gideon Manalu, Ferry Rippun Gideon
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method Limanuel, Fransisko; Susanto, Calvin; Manalu, Ferry Rippun Gideon
Jurnal Elektro Vol 13 No 2 (2020): Jurnal Elektro: Oktober 2020
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v13i2.1930

Abstract

This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position. Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9
PENGEMBANGAN PERANGKAT LUNAK UNTUK AKUISISI DATA KONSUMSI DAYA LISTRIK DARI POWER METER Ginting, Ignatius; Mulyadi, Melisa; Wijayanti, Linda; Manalu, Ferry Rippun Gideon
Jurnal Elektro Vol 17 No 2 (2024): Jurnal Elektro: Oktober 2024
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v17i2.6109

Abstract

Technological developments make it possible to monitor electricity consumption in real-time via the internet. The system developed uses a power meter to collect data, Python to process data and IoT connectivity via NodeMCU ESP8266 to send data to the internet. Python is used so that measurement data can be processed and presented in an easy-to-understand format. The test results show that electrical data measurements can be displayed with an error ranging from 0.04% -11.56%. This is because there is a delay from the time the power meter is measured until the data is displayed on ThingSpeak.
Co-Authors Ginting, Ignatius Limanuel, Fransisko Melisa Mulyadi Susanto, Calvin Wijayanti, Linda