DOI : https://doi.org/10.18517/ijaseit.15.2.20501

Optimization of Robotic Movement: Applying Lie Algebra to Improve the Performance of mBot2

Puguh Wahyu Prasetyo (1), Adhy Kurnia Triatmaja (2), Fariz Setyawan (3), Angger Hafid Prabawa (4), Hafizh Naufal Azmi (5), Muhammad Ardiyansyah (6), Samsul Arifin (7)
(1) Mathematics Education Study Program, Faculty of Teacher Training and Education, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
(2) Electronics and Informatics Education Study Program, Faculty of Teacher Training and Education, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
(3) Mathematics Education Study Program, Faculty of Teacher Training and Education, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
(4) Mathematics Education Study Program, Faculty of Teacher Training and Education, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
(5) Mathematics Education Study Program, Faculty of Teacher Training and Education, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
(6) Faculty of Mathematics and Science, University of Jyväskylä, Jyväskylän Yliopisto, Seminaarinkatu, Finland
(7) Data Science, Faculty of Engineering and Design, Institut Teknologi Sains Bandung, Indonesia
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P. W. Prasetyo, “Optimization of Robotic Movement: Applying Lie Algebra to Improve the Performance of mBot2”, Int. J. Adv. Sci. Eng. Inf. Technol., vol. 15, no. 2, pp. 376–386, Apr. 2025.
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Robot is expected to play a transformative role across various sectors, particularly in education, where the model contributes to the development of essential skills such as creativity, problem-solving and computational thinking in the Society 5.0 era. Educational robots such as mBot2 of Makeblock have achieved popularity for individual ability to improve learning experiences through hands-on engagement. Therefore, this research focused on the movement model of mBot2, specifically in exploring how the arm functionality of the model could be optimized using mathematical concepts such as Lie algebra. The research identified Gr bner basis for the hand system of robot. Through the implementation of Lie algebra on Python-based platform available on mBot2, the model significantly improved the movement accuracy and efficiency of robots. The analysis demonstrates that the implementation of Lie Algebra significantly reduces mBot2’s orientation error from 17.25 degrees to 2.25 degrees, resulting in an 86.96% improvement. This substantial accuracy enhancement underscores Lie Algebra’s efficacy in managing intricate transformations and ensuring precise coordinate transformations, making it an ideal solution for robust robotic control systems. Furthermore, the average time reduction of approximately 11.7% across both activities. These developments showed the versatility of robots as an instructional tool by increasing its value as a teaching aid and extending the application. In a specific Lie algebra, the research proposed additional advancements outside its present uses, such as building robots with switches circuit systems to improve stability. These showed how educational robots are becoming essential in current educational frameworks, supporting both fundamental and advanced learning.

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