Article Per Year (5 Year)
p-Index From 2021 - 2026
0.23
P-Index
This Author published in this journals
All Journal Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri
Arvi, Muhammad Indrastata Iftitana
Unknown Affiliation
Control & Systems Engineering Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Kinematika Enam Derajat Kebebasan Pada Robot Bawah Air Otonom Menggunakan Pendekatan Analisa Geometri Arvi, Muhammad Indrastata Iftitana; Endrasmono, Joko; Riananda, Dimas Pristovani; Rachman, Isa; Rinanto, Noorman; Adianto
Jurnal Elektronika dan Otomasi Industri Vol. 11 No. 2 (2024): Vol. 11 No.2 (2024) : Jurnal Elkolind Vol.11, No. 2, 2024 (Juli 2024)
Publisher : Program Studi Teknik Elektronika Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/elkolind.v11i2.5329

Abstract

Along with the expansion of Indonesian waters, maritime technology and robotics have grown significantly, making it an attractive field of technology. Autonomous Underwater Vehicle (AUV) is an autonomous underwater robot that can operate and maneuver independently based on given commands. AUVs are used in a variety of applications such as environmental monitoring, underwater infrastructure maintenance, and scientific research. To optimize AUV movement, this research develops and applies kinematics with six degrees of freedom (6-DOF) movement, namely surge, heave, sway, pitch, roll and yaw. The focus of this research is on the HYDROShips robot from the PPNS robotics team which uses 7 thruster motors to control movement in two types of kinematics: horizontal and vertical. A geometric approach is used to integrate translational and rotational movements, simplify the input given to the robot, and maximize the output on each motor. The research results show that this approach improves the efficiency and stability of the HYDROShips robot's movements, enabling the navigation of complex underwater routes with high precision. This research is expected to make a significant contribution to the development of autonomous underwater robots and improve the operational efficiency and effectiveness of AUVs in various applications.
Co-Authors Adianto Endrasmono, Joko Riananda, Dimas Pristovani Rinanto, Noorman