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All Journal Indonesian Journal of Innovation Multidisipliner Research
Ari Wibawa Budi Santosa
Universitas Diponegoro Semarang
Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Industrial & Manufacturing Engineering

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Four Wheel Omni Trajectory with Gyrodometry Method in the Indonesia 2022 Ash Robot Contest Imam Sutrisno; Daffa Alifian Harlinanda; Zindhu Maulana Ahmad; Projek Priyonggo; Aprinaldi Jasa Mantau; Ari Wibawa Budi Santosa; Muhammad Khalil; Fahmi Umasangadji
Indonesian Journal of Innovation Multidisipliner Research Vol. 2 No. 2 (2024)
Publisher : Institute of Advanced Knowledge and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.69693/ijim.v2i2.130

Abstract

The National Achievement Center (Puspresnas) and the Ministry of Education and Culture of the Republic of Indonesia proudly present the Indonesian Ash Robot Contest (KRAI), a yearly student robotics competition where teams tackle ash-related challenges with their robot creations. At KRAI 2021, it was shown that many robots were controlled using joysticks and resulted in a lack of effectiveness in robotic motion. The use of a joystick makes the movement of the robot take longer. This is because the robot is controlled by humans and the robot has not been able to pinpoint the robot's location. Gyrodometry is a method to map the robot's position using a inner ear and compass of the machine. In this research, Gyrodometry is used to map the position based on the readings of the gyroscope sensor and rotary encoder so that the robot can move automatically. In this research, the KRAI hitter robot can map positions and move in an accurate direction and can move automatically and effectively so that it can save more time and can increase the possibility of strategy in the match. From the results of this study, it was found that without using gyrodometry the error of X reached 11.825 cm and Y reached 35.1325 cm and also the angle error reached 13.7 degrees. and by using gyrodometry error X reaches 4.25 cm and Y reaches 5.775 cm and angle error 2.01 degrees. From these results, it was found that using gyrodometry was better than without using gyrodometry. The addition of waypoints to the robot only produces an average error of 8.2 cm X and Y error of -7.8 cm and the angle error reaches 10.2 degrees.
Underwater Remotely Operated Vehicle Control System Ar-chitecture Imam Sutrisno; Yuning Widiarti; Projek Priyonggo; Tri Mulyatno Budhi Hartanto; Ari Wibawa Budi Santosa; Faris Nofandi; Monika Retno Gunarti; Agus Prawoto; Anak Agung Istri Sri Wahyuni
Indonesian Journal of Innovation Multidisipliner Research Vol. 2 No. 2 (2024)
Publisher : Institute of Advanced Knowledge and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.69693/ijim.v2i2.132

Abstract

Underwater Remotely Operated Vehicle (ROV) control system architecture, work Class II - underwater inspection is demonstrated. The object is programmed on MATLAB simulink. The nonlinear modeled plants were processed by approximation way. Author planned a controller of an underwater ROV object. PID controller is used modeled plant. Tuning PID tool is used MATLAB for choose underwater ROV controller. Researchers tested an underwater ROV for system and solving problems an underwater ROV architecture.
Co-Authors Agus Prawoto Anak Agung Istri Sri Wahyuni Aprinaldi Jasa Mantau Daffa Alifian Harlinanda Fahmi Umasangadji Faris Nofandi Imam Sutrisno Monika Retno Gunarti Muhammad Khalil Projek Priyonggo Sumangun Lukitadi Tri Mulyatno Budhi Hartanto Yuning Widiarti Zindhu Maulana Ahmad