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All Journal IAES International Journal of Robotics and Automation (IJRA) Mechatronics, Electrical Power, and Vehicular Technology The Indonesian Accounting Review BJRA (Bongaya Journal of Research in Accounting) Research In Management and Accounting (RIMA) JASF (Journal of Accounting and Strategic Finance) INVOICE : JURNAL ILMU AKUNTANSI Journal of Accounting and Finance (JAF) Center of Economic Students Journal (CSEJ) Paradoks : Jurnal Ilmu Ekonomi Advances in Applied Accounting Research Advances in Managerial Auditing Research Research In Management and Accounting (RIMA)
Hamzah Ahmad, Hamzah
Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan Campus
Automotive Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Environmental Science Social Sciences Other

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Real-time control signal rectification and actuation mapping for robot joint control Irawan, Addie; Razali, Akhtar Razul; Amran, Aliza Che; Ahmad, Hamzah
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 1: March 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i1.pp43-51

Abstract

This paper presents the control signal rectification and actuation mapping (CSRAM) framework, developed to improve the reliability and precision of real-time robot joint control. The framework integrates three modules, namely the drive signal rectifier (DSR), the signal pole detector (SPD), and the rising/downstream detector (RDD), which ensure signal compatibility, dynamic mapping consistency, and directional stability during actuation. Unlike conventional control converters, CSRAM effectively compensates for nonlinearities, latency, and synchronization issues in closed-loop systems. Experimental validation using a hexapod-to-quadruped (Hexaquad) robot showed that the proposed method, when combined with an anti-windup PI controller, reduced steady-state error from 14% to below 1%, improved transient and settling times by 0.3 to 0.4 seconds, and decreased three-dimensional trajectory RMSE by 63.7%. These results confirm that CSRAM provides a low-complexity and computationally efficient preprocessing layer for improving real-time performance in multi-joint and legged robotic systems, with strong potential for adaptive and industrial robotic platforms.
Co-Authors Addie Irawan Amiruddin Amran, Aliza Che Basri, Andi Cahaya Laela Damayanti, Dwi Selvira Darwis Lannai Farinal, Putri Regita Gusrial, Muhammad Haniff Hassan, Mohd Hasnun Arif Ikhtiari, Kirana Junaid, Asriani Khafifah, Ainun Khairunnisa, Aqilah Laekkeng, Mursalim M, Nurul Ilmy Muhammad Abduh Mukhlis, Armilda Sartika Agrippina Mursalim Mursalim Mus, Abdul Rahman Muslim Muslim Nur Aqilah Othman, Nur Aqilah Nurfadila , Nurfadila Nurfadila Nurfadila, Nurfadila Nurwakia, Nurwakia Nurwakia, Nurwakia Nurwanah, Andi Pahlevi, Lola Venna Pramukti, Andika Rahim, Syamsuri Ratna Sari Razali, Akhtar Razul Saffanah, Nurina Saputri, Sri Ayu Shaleh, Musliha Yundari, Yundari