This paper proposes a small structure of robust controller to control robotic arm's joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.

This paper proposes an improved control strategy of a robotic arm joint using hybrid controller consist of H∞ robust controller and iterative learning controller. The main advantage of this controller is the simple structure that made it possible to be implemented on a small embedded system for frugal innovation in industrial robotic arm development. Although it has a simple structure, it is a robust H∞ controller that has robust stability and robust performance. The iterative learning controller makes the trajectory tracking even better. To test the effectiveness of the proposed method, computer simulations using Matlab and hardware experiments were conducted. Variation of load was applied to both of the processes to present the uncertainties. The superiority of the proposed controller over the proportional integral derivative (PID) controller that usually being used in a low-cost robotic arm development is confirmed that it has better trajectory tracking. The error tracking along the slope of sinusoidal trajectory input was suppressed to zero. The biggest error along the trajectory that happened on every peak of the sinusoidal input, or when the direction is changed has been improved from 15 degrees to 4 degrees. This can be conceived that the proposed controller can be applied to control a low-cost robotic arm joint position which is applicable for small industries or educational purpose.

Aplikasi desain industri membutuhkan proses panjang dari sejak memunculkan gagasan, pembuatan konsep rancangan sampai proses produksi. Pengetahuan keilmuan satu bidang saja tidak lagi mampu mengatasi kompleksitas proses tersebut. Desainer tidak lagi berlaku sebagai orang yang memiliki gagasan dan gambar desain pelingkup saja yang harus diwujudkan sementara pihak teknis harus memikirkan bagaimana desain itu diwujudkan secara sepihak. Kolaborasi akan memiliki keuntungan karena pekerjaan perancangan dapat diperkirakan sejak awal konsep rancangan sampai pewujudan pemodelan 3D printing atau prototyping. Projek perancangan robot edukasi dengan sistem pembacaan RFID ini adalah sebuah studi kasus mengkolaborasikan disiplin ilmu robotika dan desain dalam rancangan robot mainan anak. Pembahasan meliputi langkah- langkah kerja proses perancangan, aspek – aspek yang terlibat, dan evaluasi kerja kolaboratif pada perancangan robot edukasi ini. Metode pembahasan dengan dokumentasi proses langkah kerja dan identifikasi prosedur kerja kolaboratif. Diharapkan dengan pengidentifikasian prosedur kerja kolaboratif ini sinergi interdisipliner keilmuan akan lebih dapat dikelola dan dijadwalkan sehingga proses perancangan dapat dilakukan secara efektif dan efisien.

This paper offers the design and development of a path-tracking system based on Radio Frequency Identification (RFID) sensors. This Path-tracking system will be used as a navigation system on EDOT. The EDOT requires a navigation system because it must be able to drive from the starting point to the predetermined end point automatically. This path-tracking system uses RFID sensors to detect RFID cards which have been arranged as a path.And then the EDOT will pass through the path consisting of some RFId cards. EDOT is a solution of a previous system, called Line-Follower, which uses infrared as a sensor to detect lines to guide a robot to go towards its destination point. The path-tracking system used by EDOT can work more efficiently in detecting the path to be traversed than other robots using the line follower system with infrared sensors or LDR (Light Dependent Resistor).

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