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Journal of Robotics and Control (JRC)
Published by Universitas Muhammadiyah Yogyakarta
ISSN : 27155056     EISSN : 27155072     DOI : https://doi.org/10.18196/jrc
Core Subject : Science, Engineering,
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering
Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope includes (but not limited) to the following: Manipulator Robot, Mobile Robot, Flying Robot, Autonomous Robot, Automation Control, Programmable Logic Controller (PLC), SCADA, DCS, Wonderware, Industrial Robot, Robot Controller, Classical Control, Modern Control, Feedback Control, PID Controller, Fuzzy Logic Controller, State Feedback Controller, Neural Network Control, Linear Control, Optimal Control, Nonlinear Control, Robust Control, Adaptive Control, Geometry Control, Visual Control, Tracking Control, Artificial Intelligence, Power Electronic Control System, Grid Control, DC-DC Converter Control, Embedded Intelligence, Network Control System, Automatic Control and etc.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 708 Documents
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Design and Programming of 5 Axis Manipulator Robot with GrblGru Open Source Software on Preparing Vocational Students’ Robotic Skills Marsono Marsono; Yoto Yoto; Agus Suyetno; Riana Nurmalasari
Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.26134

Abstract

The rapid development of technology at the end of this decade, the industrial world is changing the human resources they have using the help of robot technology. The use of a robot was chosen because of the accuracy and precision that it can do in doing the job. In addition, robotic technology requires only one programming to do many things. Thus, there are many advantages for companies by using robotic technology in their production processes. This research aims to designing and building arm robot prototype to teach the robotics programming language. The result of this research is an arm robot prototype with Arduino Mega 2560 based programming. In addition, the robot movement programming uses the open source GrblGru software Grbl based. The GrblGru used for interpreting G-code and to convert pulse and direction information to control the stepper motor. This research concludes that there are 5 importance steps on develop the arm robot prototype, 1. Analyze; 2. Design; 3. Develop; 4. Evaluate; and 5. Implementation. With the GrblGru software the movements of arm robot prototype can work on simulation mode and control mode, there for students easier to study robotics programming language.
Monitoring the Environmental Temperature of the Arduino Assistance Engineering Faculty Using Telegram M Wujut Hariyanto; Ade Hendri Hendrawan; Ritzkal Ritzkal
Journal of Robotics and Control (JRC) Vol 1, No 3 (2020): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1321

Abstract

The temperature of the air is the state of hot air caused by the heat of the sun. Factors that affect the amount of solar heat received by the earth are cloud, the surface plane, the angle of the sun, and the length of the sun's exposure. The heat of the earth's surface by solar radiation affects the heat of the air. Earth's surface air temperature varies because sunlight spreads unevenly on the earth's surface. The research aimed to design and implement a series of tools that can measure the ambient temperature and provide information about the environmental temperature via telegram. The methods used in this research were analyses consisting of needs analysis, and analysis of how it worked. Hardware and software implementations were also applied. The research carried out several tests, including tests on the DHT11 sensor, LED light, LCD i2c, Ethernet Shield, and Telegram test. The integration test on the LCD showed that when the temperature was below or the same as 25˚C, the green LED would be ON and the red LED OFF, which indicated that it was cold temperature. Conversely, when the temperature was the same or above 30˚C, the red LED would be ON, and the green LED OFF, indicating that the temperature was hot. The second test was to compare digital and analog sensors. The comparison values of the digital and analog temperatures were 1.1˚C, and the humidity was 23.1% RH. The highest temperature obtained from the system per day was 34˚C, and the lowest temperature was 23˚C.
Modeling of 2-DOF Hexapod Leg Using Analytical Method Agusma Wajiansyah; Supriadi Supriadi; Achmad Fanany Onnilita Gaffar; Arief Bramanto Wicaksono Putra
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25119

Abstract

Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.
Survey on IoT: Security Threats and Applications Irfan Ahmad; Mohammad Saber Niazy; Riaz Ahmad Ziar; Sabawoon Khan
Journal of Robotics and Control (JRC) Vol 2, No 1 (2021): January
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2150

Abstract

the rapid growth of the internet of things (IoT) in the world in recent years is due to its wide range of usability, adaptability, and smartness. Most of the IoT applications are performing jobs an automatic manner without interactions of human or physical objects. It’s required that the current and upcoming devices will be smart, efficient and able to provide the services to the users to implement such a new technology with a secure manner. Thus the security issues are exploring day by day by the researchers. IoT devices are most portable and light in nature so it has several issues such as battery consumption, memory, and as these devices are working open range so the most important is security. In this survey paper, we have elaborated on the security attacks with reference to the different kinds of IoT layers. In the last, we have presented some of the applications of the IoT. This study will provide assistance to the researchers and manufacturers to evaluate and decrease the attacks range on IoT devices.
Dehydration level detector through human urine with LED and LDR Erika Loniza; Dewanti Catur Dhamayanti; Meilia Safitri
Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2367

Abstract

Dehydration is a condition where the body are lack of fluids. It is because the amount of fluid that enter in the body is less of fluid than the discharge. Dehydration is something that cannot be ignored. The high incidence of dehydration is due to the difficulty of seeing the signs and symptoms of dehydration for ordinary people. This tool is designed to handle the level of human dehydration by seeing whether the urine is normal or abnormal, whether is it mild dehydration, or severe dehydration. It can handled based on the color of the urine using a tool named Light Emitting Diode Sensor (LED) and a light dependent resistor (LDR). Tool innovation is the use of rechargeable batteries and a charger module to make it easier for users to recharge exhausted batteries. On the LCD also displays the proportion of the battery to make it easier for users to see the remaining battery weaponry. This tool is expected to be able to check the dehydration among the public in order to achieve the public health status. After the process of designing, testing, collecting and analyzing data on 15 samples and reading 20 times for each sample, the result is that the tool can work well, can measure the level of dehydration according to the human urine with an average value of 62.10. The reading results that appear on the LCD are the same or according to the level of dehydration shown on the urine color chart.
Folding Clothes Tool Using Arduino Uno Microcontroller And Gear Servo Yuda Irawan; Refni Wahyuni; Hendry Fonda
Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2373

Abstract

Folding clothes is one of the homework that is often done for housewives, from a survey conducted on 200 housewives in Pekanbaru, the problem is that many housewives choose to fold family clothes by hand, this takes time and the energy to do the job. Based on these problems, the authors designed a microcontroller with a servo motor as a practical medium in folding the clothes applied to the clothes folding tool, where the author uses the Hardware Programming Methodology in order to carry out this research smoothly, the materials needed in this research are Arduino Uno, Gear. Servo, Power Supply, and software components. The result of this research is the creation of an automatic clothes folding device that is useful for simplifying household chores. From the test results, it can be concluded that this tool can fold clothes with a duration of 2 seconds.
Proportional-Integral-Derivative and Linear Quadratic Regulator Control of Direct Current Motor Position using Multi-Turn Based on LabView Devi Handaya; Resti Fauziah
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.24102

Abstract

This study accommodates the industry needs in monitoring a control system on a DC motor using LabView. The servomotor, which is usually used for position control, was replaced in this study with a DC motor coupled with a multi-turn potentiometer sensor. The use of DC motors was carried out to reduce actuator prices while maintaining control objectives. The control method used is in the form of Proportional – Integral - Derivative (PID) and optimal control which are then compared with the output. PID tuning is done using the Root Locus method. Meanwhile, for optimal control using the Linear Quadratic Regulation (LQR) approach. Testing was done by looking at the results of direct implementation of the DC motor plant hardware through observations using LabView. By using the right zero variables in the PID control, the best performance is obtained until it can track references. Too large a zero value will result in even greater Steady State Error. The results of optimal control using different Q variables did not provide a significant change. The SSE value shows the same result. The results show that the optimal control can track the reference with lower settling time and overshoot than the PID control. However, the two control methods still produce relatively small Steady State Error.
Design of Ultrasonic Sensor and Ultraviolet Sensor Implemented on a Fire Fighter Robot Using AT89S52 Ipin Prasojo; Phong Thanh Nguyen; Omar tanane; Nishith Shahu
Journal of Robotics and Control (JRC) Vol 1, No 2 (2020): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1212

Abstract

A firefighter is a task given by someone or a team to extinguish a fire that occurs when building a building. The officer took the danger of fighting the fire with a fire engine equipped with a water sprayer. Because of these dangers, a robot was made to help put out the fire. This research aimed to design a fire extinguisher robot using AT89S52 microcontroller as its controller. A DC fan controlled by a relay was utilized to extinguish the fire and a fire sensor (UV-Tron) was used to detect the presence of fire. The robot was driven by motor DC. It could detect the surrounding obstacles and possessed an ultrasound-based navigation system. If the ultrasound system detects an obstacle, the robot will automatically turn without colliding the obstacle or other things around it. The result of the research showed that the proposed fire extinguisher robot can detect fire as far as 5 meters and successfully extinguish the fire.
Development of a Simple and Low-cost Smartphone Gimbal with MPU-6050 Sensor Arif Ainur Rafiq; Wahid Nur Rohman; Sugeng Dwi Riyanto
Journal of Robotics and Control (JRC) Vol 1, No 4 (2020): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1428

Abstract

This paper discusses about design and development of gimbal smartphone, which are made to be simple and less money consuming by utilizing microcontroller and MPU 6050 sensor. Recently, the development of videography and image processing is inseparable from the rapid advance in smartphone technology. One of the most popular features is camera. Hand movements and shocks cause fewer maximum results. To improve the quality of camera captures and video, it is necessary to have a stabilizer for camera position.  Thus, it is expected that the outcomes of this paper are able to give contribution for cheap gimbal smartphone. Design and implementation of gimbal uses acrylic as the material, with 5 mm of thickness. This MPU 6050 sensor is optimized to detect sway in axis X, Y, and Z or roll, pitch, and yaw. Gyroscope and accelerometer provide input to the microcontroller, which will process for output on 3 servomotors that function to maintain the camera’s position at a specified set point. The results show that MPU 6050 sensor can response angle reading error of 1.34° of roll, 0.25° of pitch, and 0.78° of yaw. Error in maximum servomotor movement is 1.5°. Thus, it can be concluded that gimbal can work optimally with less money consuming as well as low error. It is expected that the next research will add other suitable and accurate control, that is, PID or fuzzy.
Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot Iswanto Suwarno; Wiwin A. Oktaviani; Yosi Apriani; Dhiya Uddin Rijalusalam; Anish Pandey
Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i1.11528

Abstract

The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.

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