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All Journal ELKHA : Jurnal Teknik Elektro Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering)
Rendyansyah Rendyansyah
Teknik Elektro, Fakultas Teknik, Universitas Sriwijaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering

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Voice Command Recognition for Movement Control of a 4-DoF Robot Arm Rendyansyah Rendyansyah; Aditya P. P. Prasetyo; Sarmayanta Sembiring
ELKHA : Jurnal Teknik Elektro Vol. 14 No. 2 October 2022
Publisher : Faculty of Engineering, Universitas Tanjungpura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26418/elkha.v14i2.57556

Abstract

Robots are widely used in industry. Robots generally have a control system or intelligence embedded in the processor. The robots consist of mobile mode, manipulator, and their combination. Mobile robots usually use wheels, and manipulator robots have limited degrees of freedom. Both have their respective advantages. Mobile robots are widely applied to environments with flat floor surfaces. The manipulator robots are applied to a static environment to produce, print, and cut material. In this study, the robot arm 4 Degree of Freedom (DoF) is integrated with a computer. The computer controls the whole system, where the operator can control the Robot based on voice commands. The operator's voice is one person only with different intonations. Voice command recognition uses the Mel-Frequency Cepstral Coefficients (MFCC) and Artificial Neural Networks (ANN) methods. The MFCC and ANN programs are processed in the computer, and the program output is sent to the Robot via serial communication. There are nine types of voice commands with different MFCC patterns. ANN training data for each command is 10 data, so the total becomes 90. In this experiment, the Robot can move according to voice commands given by the operator. Tests for each voice command are ten experiments, so the total experiment is 90 times with a success rate of 94%. There is only one operator, and experiments have not yet been carried out with the voices of several operators. The error occurred because there were several similar patterns during system testing.
Control of Multi-Robot Arms in Object Retrieval Based on Human-Machine Interface Rendyansyah Rendyansyah; Hera Hikmarika; Melia Sari; M. Al Furqon Syaidin Fikri; Ichlasul Akmali Rizky
Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering) Vol 11 No 2 (2024): Jurnal Ecotipe, October 2024
Publisher : Jurusan Teknik Elektro, Universitas Bangka Belitung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33019/jurnalecotipe.v11i2.4528

Abstract

Multi-robot arm control is the result of the development of advanced robotics technology. With the advancement in the field of human-machine interface, controlling robot arms has become more efficient and can be done intuitively by humans. In this study, we designed three robot arms of 4-DoF, each of which is controlled by a computer in a visual program interface. This research aims to develop a human-machine interface-based multi-robot arm control system that allows humans to interact with the robots directly. The movement method of each robot uses Trajectory Planning, which works when the operator gives motion commands through the interface display. Multi-robot communication with a computer using USB hub serial format. The computer is the master, and each Arduino on the robot is the enslaved. Three robot arms have been tested and controlled by the HMI computer, and all of them move according to the commands of the operator. The time required by each robot to complete its mission is ± 10 seconds. The results of this study are expected to open new opportunities in the application of robotics in various fields, such as the manufacturing industry, health services, and transportation.
Co-Authors Aditya Putra Perdana Prasetyo Hera Hikmarika Ichlasul Akmali Rizky M. Al Furqon Syaidin Fikri Sari, Melia Sarmayanta Sembiring