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All Journal ELKHA : Jurnal Teknik Elektro Jurnal Teknologi Informasi dan Ilmu Komputer Jurnal Edukasi dan Penelitian Informatika (JEPIN) Jurnal Informatika dan Teknik Elektro Terapan Indonesian Journal of Artificial Intelligence and Data Mining Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) Journal of Robotics and Control (JRC) Signal and Image Processing Letters
Agusma Wajiansyah, Agusma
Jurusan Teknologi Informasi Politeknik Negeri Samarinda
Aerospace Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

 1 
Modeling of 2-DOF Hexapod Leg Using Analytical Method Wajiansyah, Agusma; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.
Optimization of Humanoid Robot Leg Movement Using Open CM 9.04 Wajiansyah, Agusma; Malani, Rheo; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.15071

Abstract

The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.
Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano Supriadi, Supriadi; Wajiansyah, Agusma; Zainuddin, Mohammad; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.21807

Abstract

The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.
Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano Supriadi, Supriadi; Wajiansyah, Agusma; Zainuddin, Mohammad; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.21807

Abstract

The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.
Co-Authors AA Sudharmawan, AA Achmad Fanany Onnilita Gaffar Anggreini, Rhenata Biabdillah, Fajerin Hargiani, Fransisca Xaveria Malani, Rheo Mohammad Zainuddin, Mohammad Nur, Syarifah Pratiwi, Adinda Putri Ramadhan, Muhammad Cahyo Putra RR. Ella Evrita Hestiandari Salsabila, Unik Hanifah Saputra, Arief Bramanto Wicaksono Supriadi Supriadi