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All Journal Journal of Soft Computing Exploration Control Systems and Optimization Letters
Cakan, Abdullah
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Current trend in control of artificial intelligence for health robotic manipulator Suwarno, Iswanto; Cakan, Abdullah; Raharja, Nia Maharani; Baballe, Muhammad Ahmad; Mahmoud, Magdi S.
Journal of Soft Computing Exploration Vol. 4 No. 1 (2023): March 2023
Publisher : SHM Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52465/joscex.v4i1.96

Abstract

The increasing utilization of artificial intelligence and robots in various services in healthcare makes robots as preferred intelligent agent model. Robotic evolution produces the optimal robotic innovation in the robotic system or its subsystems, morphology, kinematics, and control. An intelligent algorithm is programmed into the control of the robotic manipulator. This paper aims to identify the control of artificial intelligence and identify comparisons of artificial intelligence algorithms control for healthcare robotic manipulators. This study uses a systematic literature review using the Preferred Reporting Items for Systematic Review (PRISMA). The potential for further articles is explored related to the theme of the research carried out. The conclusion obtained many studies have been carried out to optimize the work and tasks of the robotic arm manipulator, specifically developing various types of manipulator control (algorithms) combined with neural networks to get the right and appropriate algorithm.
Implementation of PID Control for Angular Position Control of Dynamixel Servo Motor Ramadhani, Nur; Ma'arif, Alfian; Çakan, Abdullah
Control Systems and Optimization Letters Vol 2, No 1 (2024)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v2i1.40

Abstract

Dynamixel servo motors, characterized by their compact size and high torque output, are made of high-quality materials that ensure the necessary strength and structural robustness against external forces. However, these motors are prone to overheating under certain internal conditions, such as temperature or supply voltage fluctuations during prolonged use. This research aims to design and apply PID control methodology to regulate Dynamixel servo motors. The research includes motor implementation using the PID method and subsequent testing with varying voltage inputs ranging from 11V to 12V. Addressing these issues involves using the Proportional Integral Derivative (PID) control method, widely recognized for its reliability in controlling motor speed. The research successfully designed Dynamixel servo motors capable of PID-controlled rotation according to predefined reference values. The motor's PID control design involved multiple trial runs - up to 5 instances - for each proportional, integral, and derivative control. The default PID parameter implementation did not match the setpoint; however, a re-tuned PID method yielded optimal results with parameter values Kp = 0.01000; Ki = 0.02703; Kd = 0.00005. Test results showed that the PID-controlled Dynamixel servomotor accurately achieved the expected angular output of 75°. In addition, tests using voltage inputs ranging from 11.00 to 12.00 volts showed stable operation without changing the servo motor's angular position before applying the PID control value, ensuring consistent motion even as the voltage drops.
Co-Authors Alfian Ma’arif Baballe, Muhammad Ahmad Mahmoud, Magdi S. Nia Maharani Raharja Ramadhani, Nur Suwarno, Iswanto