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| Dublin Core |
PKP Metadata Items |
Metadata for this Document |
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| 1. |
Title |
Title of document |
Control of Pan-tilt Mechanism Angle using Position Matrix Method |
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| 2. |
Creator |
Author's name, affiliation, country |
Hendri Maja Saputra; Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences,
Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135; Indonesia |
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| 2. |
Creator |
Author's name, affiliation, country |
Arif Santoso; Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences,
Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135; Indonesia |
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| 2. |
Creator |
Author's name, affiliation, country |
Midriem Mirdanies; Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences,
Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135; Indonesia |
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| 2. |
Creator |
Author's name, affiliation, country |
Vikita Windarwati; Mechatronics Department, Faculty of Engineering - Yogyakarta State University,
Colombo Street No.1, Yogyakarta, 55281; Indonesia |
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| 2. |
Creator |
Author's name, affiliation, country |
Riastus Nayanti; Mechatronics Department, Faculty of Engineering - Yogyakarta State University,
Colombo Street No.1, Yogyakarta, 55281; Indonesia |
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| 2. |
Creator |
Author's name, affiliation, country |
Lukni Maulana; Mechatronics Department, Faculty of Engineering - Yogyakarta State University,
Colombo Street No.1, Yogyakarta, 55281; Indonesia |
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| 3. |
Subject |
Discipline(s) |
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| 3. |
Subject |
Keyword(s) |
Pan-Tilt control, x-IMU sensor, quaternion, position matrix, Morolipi-V2 |
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| 4. |
Description |
Abstract |
Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertial sensor measurement unit, x-IMU, has been done. The PTM has to be able to be actively controlled both manually and automatically in order to correct the orientation of the moving Morolipi-V2 platform. The x-IMU detects the platform orientation and sends the result in order to automatically control the PTM. The orientation is calculated using the quaternion combined with Madwick and Mahony f ilter methods. The orientation data that consists of angles of roll ( α ), pitch ( β ), and yaw ( γ ) from the x-IMU are then being sent to the camera for controlling the PTM motion (pan & tilt angles) after calculating the reverse angle using position matrix method. Experiment results using Madwick and Mahony methods show that the x-IMU can be used to find the robot platform orientation. Acceleration data from accelerometer and flux from magneto meter produce noise with standard deviation of 0.015 g and 0.006 G, respectively. Maximum ab solute errors caused by Madgwick and Mahony method with respect to X- axis are 48.45º and 33.91º, respectively. The x-IMU im plementation as inertia sensor to control the Pan-Tilt Mechanism shows a good result, which the probability of pan angle tends to be the same with yaw and tilt angle equal to the pitch angle, except a very small angle shift due to the influence of roll angle. |
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| 5. |
Publisher |
Organizing agency, location |
National Research and Innovation Agency |
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| 6. |
Contributor |
Sponsor(s) |
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| 7. |
Date |
(YYYY-MM-DD) |
2013-12-18
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| 8. |
Type |
Status & genre |
Peer-reviewed Article |
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| 8. |
Type |
Type |
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| 9. |
Format |
File format |
PDF |
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| 10. |
Identifier |
Uniform Resource Identifier |
https://mev.brin.go.id/mev/article/view/156 |
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| 10. |
Identifier |
Digital Object Identifier (DOI) |
https://doi.org/10.14203/j.mev.2013.v4.109-116 |
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| 11. |
Source |
Title; vol., no. (year) |
Journal of Mechatronics, Electrical Power, and Vehicular Technology; Vol 4, No 2 (2013) |
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| 12. |
Language |
English=en |
en |
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| 13. |
Relation |
Supp. Files |
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| 14. |
Coverage |
Geo-spatial location, chronological period, research sample (gender, age, etc.) |
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| 15. |
Rights |
Copyright and permissions |
Copyright (c)
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