Eksperimen Trajektori pada Mobile Cable-Driven Parallel Robot

Rabani, Farhan (2023) Eksperimen Trajektori pada Mobile Cable-Driven Parallel Robot. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Keterbatasan peran manusia pada evakuasi bencana menjadikan robot sebagai potensi solusi dalam proses penyelamatan. Penggunaan robot sebagai alat pertolongan evakuasi memerlukan karakteristik yang spesifik. Mobile Cable-Driven Parallel Robot (MCDPR) memiliki portabilitas dan adaptabilitas yang dapat diterapkan sebagai robot penyelamatan. Penelitian ini bertujuan mendesain sistem kendali dan melakukan eksperimen trajektori sehingga dicapai hasil yang representatif dengan hasil simulasi. Prototipe MCDPR didasarkan pada penelitian terdahulu dengan modifikasi pada rangkaian elektronik sehingga MCDPR menjadi portabel. Eksperimen trajektori dilakukan sebanyak empat kali berdasarkan referensi optimal dari hasil simulasi. Selama mengikuti trajektori, ketinggian end-effector dijaga konstan dengan bantuan komponen penggerak yaitu roda dan winch. Metode kontrol yang digunakan adalah PI controller, gain-scheduling, dan feed-forward. Error antara sudut aktuator aktual dan referensi simulasi adalah input dari PI controller. Nilai gain dari PI controller divariasikan dengan gain-scheduling berdasarkan perbedaan error roda kiri dan kanan tiap MCDPR. Kontrol feed-forward digunakan untuk menjumlahkan nilai output PI controller dengan nilai referensi kecepatan sudut aktuator. Setiap motor DC diberikan input PWM dari hasil kontrol feed-forward. Eksperimen dilakukan sehingga dicapai nilai RMSE tiap sudut aktuator yang mewakili hasil simulasi. Hasil eksperimen menunjukkan bahwa skema kontrol yang digunakan memberikan hasil yang representatif dengan hasil simulasi. Nilai RMSE tertinggi sudut roda kiri, roda kanan, dan winch pada seluruh MCDPR secara berturut-turut adalah 0.0632; 0.0590; 0.2457; 0.9579; 0.9450; 0.1576; 0.6050; 0.6064; dan 0.1561.
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The limited role of humans in disaster evacuation makes robots a potential solution in the rescue process. The use of robots as evacuation aid requires specific characteristics. Mobile Cable-Driven Parallel Robot (MCDPR) has portability and adaptability that can be applied as a rescue robot. This research aims to design a controller and experiment for a trajectory to obtain representative results to simulation results. MCDPR prototype is based on previous research with modifications on electrical circuits so that the MCDPR is portable. Trajectory experiments are conducted four times based on optimal reference from simulation results. While following trajectory, the end-effector’s height is maintained constant with the help of wheel and winch driving components. The control methods used are PI controller, gain-scheduling, and feed-forward. Error between actuator’s actual and simulation reference is the input for PI controller. The gain value of PI controller is varied by gain-scheduling based on the error difference between left and right wheels of each MCDPR. Feed-forward control is used to sum PI controller output value with the reference value of actuator’s angular velocity. Each DC motor is given PWM input from the output of feed-forward control. Experiment is conducted so that each actuator angle’s RMSE represents the simulation results. Experiment results show that the control scheme used provides results that are representative of simulation results. The highest RMSE of left wheel, right wheel, and winch angle for all MCDPR respectively are 0.0632; 0.0590; 0.2457; 0.9579; 0.9450; 0.1576; 0.6050; 0.6064; and 0.1561.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	gain-scheduling, MCDPR, PI, Simulink, trajectory, gain-scheduling, trajektori
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Farhan Rabani
Date Deposited:	10 Oct 2023 08:40
Last Modified:	10 Oct 2023 08:40
URI:	http://repository.its.ac.id/id/eprint/103277

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