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All Journal Annual Research Seminar JURNAL NASIONAL TEKNIK ELEKTRO Jusikom : Jurnal Sistem Komputer Musirawas KOMPUTIKA - Jurnal Sistem Komputer J-Innovation
Kemahyanto Exaudi
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Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Other

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Journal : J-Innovation

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IMPLEMENTASI TRAJECTORY PLANNINGPADA ROBOT MANIPULATOR 4 DOF UNTUK MENCARI KEBOCORAN GAS Aditya P.P. Prasetyo; Rendyansyah; Kemahyanto Exaudi
J-Innovation Vol. 6 No. 2 (2017): Jurnal J-Innovation
Publisher : Politeknik Aceh

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (645.233 KB) | DOI: 10.55600/jipa.v6i2.38

Abstract

Gas leakage in industrial areas will have negative impacts such as air pollution, loss, or even disaster. The occurrence of leakage can be caused by corrosion or from the valve crack in the pipe, and so forth. Therefore, it is necessary to have a system that can monitor the state of the gas pipeline so the possibility of leakage can be known earlier. This research has developed application of robot manipulator 4 DOF integrated with gas sensor that is MQ4 which placed at end of robot arm. The method used to determine the motion of the robot is trajectory planning in the form of cubic trajectory, where in this method the robot movement route will adjust the pattern of pipelines in cartesian coordinates. To determine the possibility of a leak of butane gas, observed the output signal from the gas sensor. If it exceeds 3.5 volts then the coordinates passed by the end-effector may leak. The experimental results show that robot manipulators with cubic trajectory planning are able to track paths according to the shape of pipes, and gas leaks can be detected by gas sensors.
Co-Authors Aditya P.P. Prasetyo Aditya Putra Perdana Prasetyo Ahmad Fali Oklilas Barzan Trio Putra Hanung Adi Nugroho Muhammad Furqon Rabbani Purwita Sari Purwita Sari Rendyansyah Rossi Passarella Sarmayanta Sembiring Tri Wanda Septian