Peningkatan Performa Path Tracking pada Robot Berkaki Enam Menggunakan Metode Fuzzy Based Proportional Gain Adjustment - Foot Trajectory Planning

El Muhandish, Hashfi (2024) Peningkatan Performa Path Tracking pada Robot Berkaki Enam Menggunakan Metode Fuzzy Based Proportional Gain Adjustment - Foot Trajectory Planning. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot merupakan komponen penting dalam kehidupan manusia saat ini karena kegunaannya dalam berbagai hal, termasuk robot berkaki. Kelebihan utama robot berkaki pada fleksibilitas tempat pengaplikasiannya menjadikan pengembangan robot berkaki khususnya pada robot berkaki enam dikarenakan kestabilannya yang baik, terus dilakukan, tidak terkecuali oleh NASA. Permasalahan utama robot berkaki adalah kemampuan path tracking yang kurang akurat jika dibandingkan dengan robot beroda. Permintaan terhadap robustness dan ketahanan sistem robot juga meningkat, menjadikan efisiensi energi dan respons sistem juga menjadi pokok perhatian dalam pengembangannya. Untuk mengatasi permasalahan ini, dikembangkan sistem kontrol Fuzzy Based Proportional Gain Adjustment - Foot Trajectory Planning berbasis metode pengontrolan PID, yang dapat menyesuaikan gerakan robot berdasarkan kondisi lingkungan. Sistem ini diuji pada lingkungan dengan dan tanpa rintangan, dan dihasilkan nilai RMSE yang lebih kecil dibanding sistem PID, yakni 13,69 mm pada lingkungan tanpa rintangan dan 22,39 mm pada lingkungan dengan rintangan. Dalam pengujian terkait energi yang digunakan, sistem yang dirancang juga memiliki nilai yang lebih baik dengan persentase load servo rata-rata 7,935% berbanding sistem PID sebesar 11,66%. Adapun untuk respons sistem, algoritma yang dirancang memiliki tingkat robustness yang cukup baik dimana waktu tempuh tanpa dan dengan rintangan hanya berselisih 1 detik.
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Robots are an important component in human life today because of their usefulness in various ways, including legged robots. The main advantage of legged robots in the flexibility of their application places makes the development of legged robots, especially on six-legged robots due to their good stability, continues, not least by NASA. The main problem with legged robots is their less accurate path tracking capabilities when compared to wheeled robots. The demand for robustness and durability of robotic systems is also increasing, making energy efficiency and system response also a major concern in its development. To overcome this problem, a Fuzzy Based Proportional Gain Adjustment - Foot Trajectory Planning control system based on the PID control method was developed, which can adjust the robot's motion based on environmental conditions. The system was tested in environments with and without obstacles/obstacles, and resulted in smaller RMSE values than PID system, namely 13,69 mm in environments without obstacles and 22,39 mm in environments with obstacles. In testing related to energy used, the designed system also has a better value with an average servo load percentage of 7,935% compared to the PID system of 11,66%. As for the system response, the designed algorithm has a fairly good level of robustness where the travel time without and with obstacles is only 1 second apart.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Hexapod Robot, Path Tracking, Fuzzy Proportional Adjustment, Trajectory Planning.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6592.A9 Automatic tracking.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Hashfi El Muhandish
Date Deposited:	29 Jul 2024 07:55
Last Modified:	29 Jul 2024 07:55
URI:	http://repository.its.ac.id/id/eprint/109775

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