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All Journal Jurnal Ilmu Komputer dan Desain Komunikasi Visual BERNAS: Jurnal Pengabdian Kepada Masyarakat Prosiding Seminar Nasional Pengabdian Kepada Masyarakat
Nuril Esti Khomariah
Universitas 17 Agustus 1945 Surabaya
Religion Agriculture, Biological Sciences & Forestry Arts Humanities Computer Science & IT Dentistry Economics, Econometrics & Finance Education Energy Environmental Science Languange, Linguistic, Communication & Media Mathematics Neuroscience Nursing Public Health Social Sciences Veterinary Other

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Journal : Jurnal Ilmu Komputer dan Desain Komunikasi Visual

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Udiebot: Implementasi Inverse Kinematic pada Quadruped Robot Nuril Esti Khomariah; Samsul Huda
Jurnal Ilmu Komputer dan Desain Komunikasi Visual Vol 3 No 1 (2018): Jurnal Ilmu Komputer dan Desain Komunikasi Visual (JIKDISKOMVIS)
Publisher : Fakultas Ilmu Komputer Universitas Nahdlatul Ulama Sidoarjo

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Abstract

Quadruped robot is a multi-legged robot driven by 4 legs. During this time, the way to move a robot's leg is to give a direct value for each joint. This certainly requires a longer time because it still uses the trial-error method and if the joint owned by the robot is very much. Therefore this problem can be overcome by using the inverse kinematic. Inverse kinematic can accelerate the process of defining foot poses with coordinate as input and values for each joint / robot joint as output. At Udiebot, each leg has 3 DOF (degree of freedom) with a total 12 DOF. Robot foot mechanical parameters need to be defined first including the forward kinematic model. Then proceed with inverse kinematic implementation which is analyzed by geometry approach. From the test results it can be seen that the maximum error obtained is around 0.11% which indicates that the system is running well. Keywords: Quadruped robot, inverse kinematic, pose, forward kinemat
Aplikasi Kendali Navigasi “W-Bot” Berbasis Mobile Pada Robot Omni-Directional Wheels Nuril Esti Khomariah; Naufal Abdillah; Mohammad Eko Hardiyanto; Aldion Ammirul Endryanto
Jurnal Ilmu Komputer dan Desain Komunikasi Visual Vol 5 No 1 (2020): Jurnal Ilmu Komputer dan Desain Komunikasi Visual (JIKDISKOMVIS)
Publisher : Fakultas Ilmu Komputer Universitas Nahdlatul Ulama Sidoarjo

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Abstract

Indonesia, the application of robots in the warehouse sector is still very low. Even though in several countries, robot technology has been implemented to help the management of goods arrangement to be more efficient and accurate. So in this study will create a robot warehouse that has the main function to deliver and move goods from a starting point to the destination point. The robot uses omni-directional wheels to make it easier to navigate in 8 directions. Each wheel is driven by each stepper motor. Another feature is obstacle avoiding where there are 8 proximity sensors to avoid collisions with other robots or other objects around them. In addition to the main control system on robots, there are also control applications based on mobile / android. So the robot can be controlled automatically or manually through the W-Bot application. There are 10 navigation buttons to move the robot that is connected via Bluetooth communication. The system designed on this robot will make a major contribution to the world of warehousing, especially in Indonesia to help the management of goods arrangement more quickly, accurately, efficiently and energy saving. Keywords— Android, Robot Warehouse, Omni-Directional Wheels
Co-Authors Aldion Ammirul Endryanto Devan Raditya Gantara Mohammad Eko Hardiyanto Naufal Abdillah Puteri Noraisya Primandari Puteri Noraisya Primandari Samsul Huda Tengku Bintang Zaky Irmaysa Yohana Luckyta Arta Mevia Soeprijanto Yulinda