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All Journal Bulletin of Electrical Engineering and Informatics Bulletin of Electrical Engineering and Informatics Jurnal Teknologi Informasi dan Ilmu Komputer Bulletin of Electrical Engineering and Informatics INTEGER: Journal of Information Technology Network Engineering Research Operation [NERO] JPP IPTEK (Jurnal Pengabdian dan Penerapan IPTEK) Prosiding Seminar Nasional Sains dan Teknologi Terapan Journal of Applied Sciences, Management and Engineering Technology (JASMET) Prosiding Seminar Nasional Teknik Elektro, Sistem Informasi, dan Teknik Informatika (SNESTIK)
Dian Puspita Hapsari
Institut Teknologi Adhi Tama Surabaya
Civil Engineering, Building, Construction & Architecture Computer Science & IT Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Other

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Journal : Bulletin of Electrical Engineering and Informatics

 1 
Simulation design of trajectory planning robot manipulator Wahyu S. Pambudi; Enggar Alfianto; Andy Rachman; Dian Puspita Hapsari
Bulletin of Electrical Engineering and Informatics Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (884.451 KB) | DOI: 10.11591/eei.v8i1.1179

Abstract

Robots can be mathematically modeled with computer programs where the results can be displayed visually, so it can be used to determine the input, gain, attenuate and error parameters of the control system. In addition to the robot motion control system, to achieve the target points should need a research to get the best trajectory, so the movement of robots can be more efficient. One method that can be used to get the best path is the SOM (Self Organizing Maps) neural network. This research proposes the usage of SOM in combination with PID and Fuzzy-PD control for finding an optimal path between source and destination. SOM Neural network process is able to guide the robot manipulator through the target points. The results presented emphasize that a satisfactory trajectory tracking precision and stability could be achieved using SOM Neural networking combination with PID and Fuzzy-PD controller.The obtained average error to reach the target point when using Fuzzy-PD=2.225% and when using PID=1.965%.
Co-Authors Abd. Rasyid Syamsuri Aeri Rachman Andy Rachman Arief Rachman Birdyne Yanuar Melani Chanafi, Moch Irfan Enggar Alfianto Fandi Arianto Fitri Sofia Nur Khamidah Hendro Nugroho Hendro Nugroho, Hendro Imam Utoyo Khamidah, Fitri Sofia Nur M Tsalits Nururrohman Maftahatul Hakimah Maftahatul Hakimah, Maftahatul Melani, Birdyne Yanuar MHA Harits MI Firdaust Moch Irfan Chanafi Muhamad Imron Wazirudin Muhammad Fahrur Rozi Muhima, Rani Rotul Nanang Fakhrur Rozi Nururrohman, M Tsalits Rachman Arief Rachman Arief, Rachman Reza Uttungga Rinci Kembang Hapsari Rinci Kembang Hapsari Ruly Adi Permana SA Adriko Salma N. Aini Santi Wulan Purnami Septiyawan Rosetya Wardhana Siti Agustini, Siti Tukadi Tukadi, Tukadi Tutuk Indriyani Utoyo, Imam Uttungga, Reza Wachid Ismail Amrullah Wahyu S. Pambudi Waras Lumandi Wardhana, Septiyawan Rosetya Wazirudin, Muhamad Imron WR Wahyudi