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All Journal TEKNIK INFORMATIKA REKAYASA Jurnal Teknologi Elektro ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika JEEMECS (Journal of Electrical Engineering, Mechatronic and Computer Science) Elektrika CYCLOTRON Multitek Indonesia : Jurnal Ilmiah Jurnal Teknik Elektro dan Komputer TRIAC Energy : Jurnal Ilmiah Ilmu-Ilmu Teknik Jambura Journal of Electrical and Electronics Engineering Journal of Robotics and Control (JRC) Jurnal Riset Rekayasa Elektro INAJEEE (Indonesian Journal of Electrical and Electronics Engineering) Journal Zetroem Among : Jurnal Pengabdian Masyarakat JASEE Journal of Application and Science on Electrical Engineering JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA) Jurnal Fortech SinarFe7 SCIENCE ELECTRO Electrician : Jurnal Rekayasa dan Teknologi Elektro JEECS (Journal of Electrical Engineering and Computer Sciences) Prosiding SEMNAS INOTEK (Seminar Nasional Inovasi Teknologi) Jurnal INFOTEL Jurnal FORTECH
Achmad Fiqhi Ibadillah
Universitas Trunojoyo Madura
Aerospace Engineering Agriculture, Biological Sciences & Forestry Arts Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Chemistry Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mathematics Mechanical Engineering Physics Social Sciences Transportation

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Journal : Journal of Robotics and Control (JRC)

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Enhanced Precision Control of a 4-DOF Robotic Arm Using Numerical Code Recognition for Automated Object Handling Sukri, Hanifudin; Ibadillah, Achmad Fiqhi; Thinakaran, Rajermani; Umam, Faikul; Dafid, Ach.; Kurniawan, Adi; Morshed, Md. Monzur; Kurniawan, Denni
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

This research develops a 4-DOF robotic arm system that utilizes numerical codes for accurate, automated object handling, supporting advancements in sustainable industrial automation aligned with the UN Sustainable Development Goals (SDGs), particularly Industry, Innovation, and Infrastructure (SDG 9). Key contributions include the integration of EasyOCR for reliable code recognition and a control mechanism that enables precise positioning. The robotic system combines a webcam for visual sensing, servo motors for movement, and a gripper for object manipulation. EasyOCR effectively recognizes numerical codes on randomly positioned objects against a uniform background while the microcontroller calculates servo angles to guide the arm accurately to target positions. Testing results show a success rate exceeding 94% for detecting codes 1 to 4, with minor servo angle errors requiring adjustments in arm extension by 30 mm to 50 mm. Positional error analysis reveals an average error of less than 1.5 degrees. Although environmental factors like lighting can influence code visibility, this approach outperforms traditional methods in adaptability and precision. Future research will focus on enhancing code recognition under variable lighting and expanding the system's adaptability for diverse object types, broadening its applications in industries demanding high efficiency.
Co-Authors - Haryanto 5Deni Tri Laksono A.A. Ketut Agung Cahyawan W Abd. Wahid Sholeh Abd. Wahid Sholeh Achmad Ubaidillah Achmad Ubaidillah Achmad Ubaidillah Ms Achmad Ubaidillah MS Adi Kurniawan Adi Kurniawan Saputro Adi Kurniawan Saputro ADI SAPUTRO Aditya Prayoga Ahmad Chaerul Al’ulla Amira Rohadatul Aisy Andre Putra Pratama Anugrah Rachmat Danu Anugrah Rachmat Danu Ayu Dian Lestari Candra Arif Kurniawan Dafid, Ach Deni Tri Laksono Deni Tri Laksono Desi Anis Anggraini Dian Neipa Purnamasari Diana Rahmawati Diana Rahmawati Diana Rahmawati Dwiky Ariyanto, Kemas Efendi, Akhmad Faikul Umam Fajar Sidik, Rahmad Farkhan, M. Faswia Fahmi, Monika Febriana, Iftitah Febrianto Hadi Kusuma Firly Abdillah, Fauzan Hadi Kusuma, Febrianto Hanif Pradipta Hanifuddin Sukri Hardiwansyah, Muttaqin Haryanto Haryanto Haryanto Haryanto Haryanto Haryanto Haryanto Hendra Wahyu Aprilyanto Hirvy Nurul Anwar ilyasa, yois Balian Irfan Irianto Ivan Dwi Cahyo Karina Wulandari Khotibul Umam Koko Joni Kunjo Aji Wibisono Kunto Aji Wibisono Kunto Aji Wibisono Kunto Aji Wibowo KURIAWAN, ADI Kurniawan Saputro, Adi Kurniawan, Denni KUSUMA, M.KURNIAWAN HADI Lailatul Riski, Ulfa Laksono, Deni Tri luqman hardianto M. Iqbal Arfiansyah MASLIKAH, SITI Maulana, Ahmad Afan Maulina Safitri MIFTACHUL ULUM Miftachul Ulum, Miftachul Mirza Pramudia Mitfatchul Ulum Mohammad Dwi Cahyo Mohammad Edi Santoso Mohammad Faizin Zaini Monika Faswia Fahmi Morshed, Md. Monzur Muhammad , Dian Purnomo Muhammad Bahriyan Firdaus Muhammad Mukhlis Febriansyah Nur Muhammad Rinaldi Muttaqin Hardiwansyah Ogik Saputra, Khoirul pradipta, Hanif Prianto, Aries Rasyid, Moch Fadlian Riza Alfita Riza Alfita Riza Alfita Riza Alfita Riza Alfita Riza Alfita, ROSIDA VIVIN NAHARI S. Ida Kholida Saputra, Dedy Ega Sholeh Abdullah, Wahyu Siti Maslikah Siti Maslikah Siti Maslikah Sukri, Hanifudin Syafik Syafik Tania Octavriana Thinakaran, Rajermani Tri Laksono, Deni Tri Sakti Sutrisno Ubaidillah Ms, Achmad Ubaidillah, Achmad Ulum, Miftachul Vivin Nahari Vivin Nahari Vivin Nahari, Vivin Nahari Wibisono, Kunto Aji Yois Balian Ilyasa Zainal Abidin Zainal Abidin