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Automatic Guided Vehicle (AGV) pallet truck is widely used in the industry. This kind of AGV is such a combination of the ordinary AGV used forklift mechanism. The forklift mechanism is employed for lifted up or carrying things from one place to another place. As the technology has been developed along with the industry revolution 4.0, therefore, the activity could be done automatically by using a robot-like AGV pallet truck. Basically, the working principle of the AGV pallet truck is similar to the ordinary forklift whereas the AGV pallet truck is automatically operated. DC motor is applied as the driving force for the uplifting and down lifting process in the forklift mechanism of the AGV pallet truck. DC motor is chosen because it has large torque which is advantageous for lifting loads. Unfortunately, DC motor also owns some disadvantages such as high maintenance fees and less precision. This study proposes a smart forklift mechanism for AGV pallet trucks that utilizes a stepper motor and ultrasonic distance sensor. This smart forklift mechanism is equipped with raspberry pi model B as the main microcontroller and combined with an ultrasonic distance sensor. The result of the ultrasonic distance sensor has an error approaching zero percent so the precision of the height can be fully controlled. Step / Revolution (SPR) method makes the stepper motor can move smoothly like micro-step and also the number of rotations can be controlled as we want.

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Pada era perkembangan teknologi saat ini, banyak perusahaan yang berlomba untuk memproduksi robot-robot yang dapat membantu pekerjaan manusia, terlebih untuk mengefesiensikan waktu dan tenaga dalam memproduksi suatu barang. Salah satu robot yang sedang dikembangkan di area industri ini adalah Automated Guided Vehicle (AGV). AGV merupakan robot pengangkut barang yang sudah ditentukan jalur dan arahnya secara otomatis. Pada jurnal ini akan dibahas tentang sistem navigasi dan mobility pada AGV. Menggunakan 4 roda jenis omniwheels dan penggerak berupa motor DC. Roda tersebut digunakan untuk mengatur arah gerak baik maju, mundur, kanan, dan kiri. Untuk pengaturan pergerakan secara otomatis, dikendalikan melalui computer vision. Memakai sistem navigasi dengan cara mengikuti sebuah petunjuk berupa pola dengan menggunakan kamera sebagai sensor untuk mengetahui posisi dari AGV terkini. Karena sifat metode navigasi yang diterapkan, hasil dari jalur kendaraan bisa sangat sub-optimal, terutama pada lingkungan pergudangan yang berantakan.

Brushless DC motor is suitable to be implemented in electric vehicles for it can develop high torque and is capable to do regenerative braking. During the motor is running, back electromotive force is generated with its magnitudes lower than the DC-link. To make the motor current can flow into the battery in regenerative braking mode, a bidirectional converter with boosting function capability is required. Standard three-phase converter can be controlled to provide such requirements. In this paper, a simple control strategy for a BLDC converter to operate under regenerative braking is proposed. it is capable to be operated in lower speed due to its boosting chopping concept. To verify the analysis, simulations and experimental works were done. They show the effectiveness of the proposed control strategy.

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