Abstract
Trajectory tracking testing is mostly implemented both on vehicles, mobile robots, flying robots, and excavators to generate a small value of trajectory tracking to effectiveness and efficiency by the tasks and functions of each unit or product. This study aims to compare trajectory tracking on pneumatic excavator units with a manual control system with a joystick and a remote control system using an Android smartphone. Two tracks are used where the first track uses combine straight and radius shapes and the second track combines horizontal and vertical lines that form an angle of 90o. The results showed the use of remote control using an Android smartphone still has a higher trajectory tracking error when compared to manual control with a joystick even though on average the error results obtained are small, so more remote control is needed. Keywords: Pneumatic excavator system, joystick control system, remote control system, error trajectory tracking.
Highlights
Pengujian trajectory tracking banyak dilakukan baik pada kendaraan, mobile robot, robot terbang, dan juga excvator untuk mendapatkan nilai trajectory tracking yang kecil agar dihasilkan efektifitas dan efisiensi sesuai dengan tugas dan fungsi setiap unit atau produk
This study aims to compare trajectory tracking on pneumatic excavator units with a manual control system with a joystick and a remote control system using an Android smartphone
The results showed the use of remote control using an Android smartphone still has a higher trajectory tracking error when compared to manual control with a joystick even though on average the error results obtained are small, so more remote control is needed
Summary
Gambar 1 menunjukkan prototype excavator dengan menggunakan sistem pneumatik yang akan digunakan pada penelitian ini. Penelitian ini semakna dengan penelitian terdahuu [17] yang menggunakan objek yang sama. Secara sederhana system prototype excavator ini merupakan alat dengan menggunakan udara bertekanan (pneumatik) untuk menggerakkan actuator berupa silinder dan akan menggerakkan bucket sebagai end efectornya. Rangkaian listrik digunakan untuk mengaktifkan solenoid yang ada pada control valve, angin bertekanan akan diarahkan diarahkan oleh control valve ke silinder untuk menggerakkan lengan pada. TURBO p-ISSN: 2301-6663, e-ISSN: 2447-250X Vol 8 No 2. Alat akan dikontrol dengan dua system control yaitu system control secara manual menggunakan joystick dan kontrol yang kedua dengan menggunakan kontrol jarak jauh menggunakan perangkat smartphone android
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