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All Journal Majalah Ilmiah Teknologi Elektro Jurnal Rekayasa elektrika Majalah Ilmiah Teknologi Elektro
Fahmizal Fahmizal
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Sistem Gerak Robot Mainland Surveillance menggunakan Mecanum Wheel sebagai Militer Robot Fahmizal Fahmizal; Afrizal Mayub; Muhammad Arrofiq
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (6962.593 KB) | DOI: 10.24843/MITE.2018.v17i02.P07

Abstract

Robotics in human life is very important. It is also in military sector. Modern countries intensively show of force in high technology robot developed. Indonesia has a special army force with highly military skill called Kopasus. Kopasus is special squad in mainland. Other countries also include robots as additional equipment to personnel. This military robot would help personnel performing surveillance. In this research, the prototype of surveillance mainland robot has been developed. The prototype could be used by military personnel in surveillance. In order to realize the aim, this research conducts designing of robot movement mechanism as a main point of view of this research. By using mecanum wheel platform, the surveillance main land robot is expected having navigation capability in all directions.
Identifikasi Sistem Motor DC dan Kendali Linear Quadratic Regulator Berbasis Arduino-Simulink Matlab Fahmizal Fahmizal; Fahmy Fathuddin; Rudi Susanto
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (778.178 KB) | DOI: 10.24843/MITE.2018.v17i02.P20

Abstract

This paper describes the identification process of DC motor system with experimental technique using indetification tool in Matlab. After the DC motor model system is obtained, the optimal control technique in this case using linear quadratic regulator (LQR) is used to view the system response step. In this research, the motor modification system module with Arduino DC was developed to facilitate in terms of getting the model of DC motor by approaching first and second order models. This module is integrated between Arduino and Simulink Matlab which is used as input-output data acquisition. The result of the system identification process is a model of DC Motor with second order ARX (Auto Regressive Exogenous) modeling. Furthermore, the implementation of LQR control technique with parameter of Q element element is sought by multiplication of transpose matrix C system with matrix C of the system. While the R element matrix in tuning experimentally with value 0.000001. From the test results obtained that LQR control produces a better system response time constant when compared to PID control.
Desain Robot Holonomic berbasis Roda Mecanum dengan Arm Manipulator Budi Bayu Murti; Tirza Sarwono; Esa Apriaskar; Fahmizal Fahmizal
Jurnal Rekayasa Elektrika Vol 16, No 3 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2061.561 KB) | DOI: 10.17529/jre.v16i3.17365

Abstract

Movement systems of a mobile robot in an industry generally use the concept of differential drive or ackerman steering. However, both methods tend to have low mobility. This paper proposes an industrial mobile robot design with a holonomic concept using mecanum wheels to maneuver in all directions with better mobility. As a commonly used robot in the industrial field, an arm manipulator is combined with a mobile robot. The mobile robot and arm manipulator's mechanical design is made using software inventor and utilizing acrylic as its base material. The electronic design of the robot is created using Eagle software. After the robot manufacturing is complete, then a user interface is made using the processing IDE. Several robot tests are conducted to ensure that the designed robot runs appropriately. From the functional test results, parts of the robot can run well. The smallest error obtained is 5 cm for the robot heading test, and the most significant error is 20 cm. The testing of a servo motor, which is the arm manipulator's primary actuator, showed the highest error of only 2 degrees. Besides, the gripper of the arm manipulator can also hold objects properly.
Desain Robot Holonomic berbasis Roda Mecanum dengan Arm Manipulator Budi Bayu Murti; Tirza Sarwono; Esa Apriaskar; Fahmizal Fahmizal
Jurnal Rekayasa Elektrika Vol 16, No 3 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v16i3.17365

Abstract

Movement systems of a mobile robot in an industry generally use the concept of differential drive or ackerman steering. However, both methods tend to have low mobility. This paper proposes an industrial mobile robot design with a holonomic concept using mecanum wheels to maneuver in all directions with better mobility. As a commonly used robot in the industrial field, an arm manipulator is combined with a mobile robot. The mobile robot and arm manipulator's mechanical design is made using software inventor and utilizing acrylic as its base material. The electronic design of the robot is created using Eagle software. After the robot manufacturing is complete, then a user interface is made using the processing IDE. Several robot tests are conducted to ensure that the designed robot runs appropriately. From the functional test results, parts of the robot can run well. The smallest error obtained is 5 cm for the robot heading test, and the most significant error is 20 cm. The testing of a servo motor, which is the arm manipulator's primary actuator, showed the highest error of only 2 degrees. Besides, the gripper of the arm manipulator can also hold objects properly.
Sistem Gerak Robot Mainland Surveillance menggunakan Mecanum Wheel sebagai Militer Robot Fahmizal Fahmizal; Afrizal Mayub; Muhammad Arrofiq
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Program Studi Magister Teknik Elektro Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24843/MITE.2018.v17i02.P07

Abstract

Robotika dalam aspek kehidupan manusia dewasa ini sangatlah penting. Tidak terkecuali pada bidang milter. Saat ini banyak negara berlomba-lomba menunjukkan kemuktahiran robot ciptaannya dalam bidang militer. Indonesia merupakan negara dengan prajurit tempur yang cukup disegani di tingkat Asia, sebut saja Kopasus (Komando Pasukan Khusus). Satuan prajurit Tentara Nasional Indonesia (TNI) ini sangat handal di dalam pertahanan darat Indonesia. Namun hal ini tidak cukup, saat ini banyak negara-negara melibatkan robot sebagai sarana bantu para prajuritnya. Hal ini lah yang mendorong peneliti untuk ikut mengambil peran dalam membantu para prajurit Indonesia nantinya dalam hal surveillance atau pengamatan dengan bantuan sebuah robot. Peneliti merancang dan mebuat sebuah prototype atau purwarupa robot mainland surveillance yang akan digunakan pada prajurit tentara darat. Tahap awal perancangan mekanisme gerak robot merupakan menjadi titik konsern peneliti. Dengan menggunakan roda platform mecanum wheel, robot mainland surveillance diharapkan memeliki navigasi yang memungkinkan dapat bergerak kesegalah arah.
Identifikasi Sistem Motor DC dan Kendali Linear Quadratic Regulator Berbasis Arduino-Simulink Matlab Fahmizal Fahmizal; Fahmy Fathuddin; Rudi Susanto
Jurnal Teknologi Elektro Vol 17 No 2 (2018): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Program Studi Magister Teknik Elektro Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24843/MITE.2018.v17i02.P20

Abstract

This paper describes the identification process of DC motor system with experimental technique using indetification tool in Matlab. After the DC motor model system is obtained, the optimal control technique in this case using linear quadratic regulator (LQR) is used to view the system response step. In this research, the motor modification system module with Arduino DC was developed to facilitate in terms of getting the model of DC motor by approaching first and second order models. This module is integrated between Arduino and Simulink Matlab which is used as input-output data acquisition. The result of the system identification process is a model of DC Motor with second order ARX (Auto Regressive Exogenous) modeling. Furthermore, the implementation of LQR control technique with parameter of Q element element is sought by multiplication of transpose matrix C system with matrix C of the system. While the R element matrix in tuning experimentally with value 0.000001. From the test results obtained that LQR control produces a better system response time constant when compared to PID control.
Co-Authors Afrizal Mayub Budi Bayu Murti Esa Apriaskar Fahmy Fathuddin Muhammad Arrofiq Rudi Susanto Tirza Sarwono