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"The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation. Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts. Flexural dynamics have constituted the main research challenge in modelling and control of such systems; research activities have accordingly concentrated on the development of methodologies to cope with this."

"Robot motion control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed, design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, and different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications."

"[The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers.In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and booming global green business. The second edition reflects the new developments in converter configuration, smart grid technologies, super power grid developments worldwide, new approaches for FACTS control design, new controllers for distribution system control, and power electronic controllers in wind generation operation and control. The latest trends of VSC-HVDC with multilevel architecture have been included and four completely new chapters have been added devoted to Multi-Agent Systems for Coordinated Control of FACTS-devices, Power System Stability Control using FACTS with Multiple Operating Points, Control of a Looping Device in a Distribution System, and Power Electronic Control for Wind Generation., The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers.In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and booming global green business. The second edition reflects the new developments in converter configuration, smart grid technologies, super power grid developments worldwide, new approaches for FACTS control design, new controllers for distribution system control, and power electronic controllers in wind generation operation and control. The latest trends of VSC-HVDC with multilevel architecture have been included and four completely new chapters have been added devoted to Multi-Agent Systems for Coordinated Control of FACTS-devices, Power System Stability Control using FACTS with Multiple Operating Points, Control of a Looping Device in a Distribution System, and Power Electronic Control for Wind Generation.]"

"Dalam kehidupan sehari-hari tak jarang ditemukan pekerjaan yang membutuhkan lebih dari satu orang dalam penyelesaiannya. Konsep tersebut diadaptasikan ke penyelesaian tugas kompleks untuk sistem otonomi dengan lebih dari satu mobile robot atau disebut juga mobile robot kooperatif. Dalam mengakomodasi sistem mobile robot kooperatif yang baik, beberapa aspek perlu diperhatikan terutama komunikasi antar anggotanya.Pada skripsi ini, mobile robot akan dirancang dengan menggunakan trayektori linier dan sinusoidal sebelum antar robotnya dikomunikasikan untuk bertukar informasi. Sistem meggunakan protokol komunikasi nirkabel internet socket sebagai media pertukaran informasi antar robotnya sehingga pengujian terhadap komunikasi juga perlu dilakukan.Berdasarkan hasil pengujian dapat diketahui bahwa setiap mobile robot mempunyai karakteristik dan pergerakan yang berbeda satu sama lain tetapi masih dapat dikendalikan dengan menggunakan nilai pengendali yang sama. Hasil pengujian juga menunjukkan bahwa komunikasi dengan internet socket sudah dapat digunakan dalam aplikasi mobile robot komunikatif.

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In daily life, a lot of tasks need more than one people to complete because of it complexity. The concept of using more hand to complete a complex problems is adapted in autonomous system that used more than one robot which often defined as cooperative robot. In order to accommodate a good cooperative mobile robot system, interrobot communication should be carefully designed.In this script, the mobile robot would be design while using linear and sinusoidal trajectory to test whether before being communicated between each other.

The system using wireless internet socket communication protocol as the information exchange's media between the robots, therefore an experiment need to be done to test the communication as well.Accordintg to experiment done, the result show that each robot has its own characteristic and movement dyamics. However, the differences are still tolerable and still can be controlled using the same controllers'constans.The experiment also show that internet socket communication is proven to be able implemented in communicative mobile robots."

"Mobile robot dalam aplikasinya sering dimanfaatkan dalam membantu kehidupan manusia. Tetapi mobile robot yang bekerja sendiri tidak bisa diandalkan dalam mengerjakan pekerjaan yang lebih kompleks, maka diperlukan robot yang saling berkoordinasi satu sama lain. Dalam koordinasi robot ini diperlukan kendali formasi. Kendali formasi ini dapat direalisasikan dengan beberapa metode, salah satunya adalah dengan leader-follower. Namun sebelumnya, untuk memastikan multi-mobile robot dapat bekerja dengan baik perlu dipastikan setiap mobile robot dapat mengikuti trayektori yang diperintahkan. Untuk itu pertama kali dilakukan pengujian kemampuan mobile robot dalam mengikuti trayektori garis lurus, sinusoidal, dan triangular. Selanjutnya dilakukan perancangan sistem kendali dengan metode leader-follower untuk mempertahankan formasi berdasarkan kecepatan leader dan jarak relatif follower terhadap leader. Sistem lalu diuji dengan simulasi dan perangkat keras menggunakan ROS (Robot Operating System) dan Gazebo. Hasil eksperimen menunjukkan bahwa mobile robot dapat mengikuti skenario trayektori yang diperintahkan dengan kesalahan mutlak rata-rata maksimal adalah ±5.681 cm dan mampu mempertahankan formasi ketika leader mengikuti trayektori yang diinginkan dengan kesalahan mutlak rata-rata jarak antar-mobile robot adalah ±7.327 cm.

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Mobile robots are often used to help human life. But mobile robots that work alone cannot be relied upon to do more complex work, so robots are needed to coordinate with each other. In coordination this robot requires formation control. This formation control can be realized by several methods, one of which is leader-follower. But beforehand, to ensure multi-mobile robots can work properly it is necessary to ensure that each mobile robot can follow the trajectory that is ordered. For the first, one mobile robot is tested to follow a straight line, sinusoidal, and triangular trajectory. Then the control system with leader-follower method is designed to maintain formation based on leader speed and relative distance of the follower to the leader. The system is then tested with simulations and hardware using ROS (Robot Operating System) and Gazebo. The experimental results show that the mobile robot can follow the desired trajectory with the maximum mean absolute error of ±5.681 cm and is able to maintain the formation as the leader follows the desired trajectory with mean absolute error of ±7.327 cm"

"Akhir-akhir ini kemajuan teknologi robot sangat pesat. Salah satunya adalah robot yang mempunyai kemampuan berinteraksi dengan manusia dan lingkungan secara langsung, tidak membahayakan, dan lebih bersahabat. Pada penelitian ini, akan diimplemetasikan compliance control pada tangan robot dengan mendapatkan informasi force yang diatur dari compliance strategy yang memberikan robot sebuah real intelligent sehingga robot dapat compliance terhadap lingkungan. Pada penelitian ini dimanfaatkan force/torsi (F/T) feedback dari dynamixel rx-24, dan current feedback dari motor DC. Dengan menerapkan Resolved Motion Rate Control (RMRC), trajectory planning dapat dibuat dan setiap waktu, posisi, kecepatan, serta gaya aktual pada setiap joint dapat terekam melalui sensor yang ada pada dynamixel. Untuk memperoleh dinamika sistem digunakan Newton-Euler equation. Hasilnya, Implementasi compliance control pada tangan robot telah berhasil walaupun masih kaku dan kurang presisi.

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Nowdays, technology of robotic increase rapidly. One of them is robot which have ability to interact with human and environment directly, not dangerous, and more friendly. In this research, designed robot hand using dynamixel as actuator robot arm and DC gearmotor as actuator hand fingers. In this research, implemented compliance control with get force information from compliance strategy which give robot real intelligent to solve the task well.

In this research is used torque feedback from dynamixel rx-24 and current feedback from DC gearmotor. With implement Resolved Motion Rate Control (RMRC), robot hand can move follow instruction given and every time, position, velocity, and actual force every joint can be recorded by dynamixel's sensors. With using Newton-Euler equation about dynamic, so can be gotten force equation in every moving. The result, implementation of compliance control in hand robot is successful although still rough and bad presision."

"Computer simulation program has been developed on the basis of Liapunov approach for the study of MRAC technique applied to pressure control for a vacuum system. Both proportional and integral feedback as well as disturbance feedforward is considered in the closed-loop system. The simulation result obtained with a personal computer demonstrates that this MRAC technique is feasible and provides effective and satisfactory control despite its poor initial control policies and wide range of choice for the adaptive gains. For a series of step disturbance, MRAC resulted in continually improved control with very good agreement obtained between process and reference model responses after the second disturbance."