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All Journal IAES International Journal of Robotics and Automation (IJRA)
Razali, Akhtar Razul
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Automotive Engineering Electrical & Electronics Engineering

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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 Amran, Aliza Che Hamzah Ahmad, Hamzah