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All Journal Sinergi International Journal of Engineering Continuity
Muhammad Hafizd Ibnu Hajar
Department of Electrical Engineering, Universitas Mercu Buana
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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AN FLC-PSO ALGORITHM-CONTROLLED MOBILE ROBOT Heru Suwoyo; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar
SINERGI Vol 24, No 3 (2020)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2020.3.002

Abstract

The ineffectiveness of the wall-following robot (WFR) performance indicated by its surging movement has been a concerning issue. The use of a Fuzzy Logic Controller (FLC) has been considered to be an option to mitigate this problem. However, the determination of the membership function of the input value precisely adds to this problem. For this reason, a particular manner is recommended to improve the performance of FLC. This paper describes an optimization method, Particle Swarm Optimization (PSO), used to automatically determinate and arrange the FLC’s input membership function. The proposed method is simulated and validated by using MATLAB. The results are compared in terms of accumulative error. According to all the comparative results, the stability and effectiveness of the proposed method have been significantly satisfied.
Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements Heru Suwoyo; Andi Adriansyah; Julpri Andika; Muhammad Hafizd Ibnu Hajar; Thathit Gumilar Triwidya Mochtar; Muhammad Yusuf; Fajri Rezki Hutomo
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.148

Abstract

The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.
Co-Authors Andi Adriansyah Fajri Rezki Hutomo Julpri Andika Muhammad Yusuf Suwoyo, Heru Thathit Gumilar Triwidya Mochtar Yingzhong Tian