Perencanaan Trajektori Multi Objektif dan Bebas Tumbukan pada Manipulator Berbasis Kurva NURBS

Amara, Vania Bernicia (2025) Perencanaan Trajektori Multi Objektif dan Bebas Tumbukan pada Manipulator Berbasis Kurva NURBS. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Peningkatan produktivitas dan kualitas di industri manufaktur mendorong adopsi sistem otomasi berbasis robot, khususnya robot manipulator. Salah satu tantangan utama dalam penerapannya adalah perencanaan gerak yang optimal, bebas tumbukan, serta mempertimbangkan beberapa objektif, seperti waktu eksekusi dan konsumsi energi yang minimum. Penelitian ini mengusulkan metode perencanaan gerak multi objektif untuk robot manipulator UR5 melalui dua tahap utama. Tahap pertama adalah penentuan beberapa pose robot menggunakan algoritma bebas tumbukan berbasis model kinematik, diikuti optimasi lintasan minimum pada bidang kartesian dengan Genetic Algorithm (GA). Tahap kedua adalah optimasi trajektori menggunakan algoritma NSGA-II berdasarkan tiga objektif, yaitu waktu eksekusi, konsumsi energi, dan kriteria kinematik-dinamik, dengan dukungan model dinamik untuk estimasi energi. Konstruksi trajektori kontinu dilakukan menggunakan interpolasi kurva Non-Uniform Rational B-Spline (NURBS) derajat lima. Hasil optimasi berupa himpunan solusi pareto-optimal, dengan satu solusi terbaik dipilih melalui fungsi pembobotan. Metode ini berhasil merencanakan lintasan bebas tumbukan dengan tujuh node. Node-node tersebut dibangkitkan menggunakan operator GA sehingga lintasan memiliki panjang dan perubahan sudut joint yang minimum. Panjang lintasan diestimasi sebesar 0.9839 satuan, sedangkan total dari kuadrat perubahan sudut lintasan (sebagai ukuran lintasan yang halus) dapat diminimalkan hingga 1.0127 radian kuadrat. Konfigurasi tujuh node ini kemudian diolah menggunakan interpolasi NURBS untuk menghasilkan trajektori kontinu turunan ke-0 (posisi) hingga turunan ke-3 (jerk). Operator NSGA-II dijalankan selama 100 generasi dan menghasilkan solusi waktu interval optimal antar node [0.589, 0.664, 0.933, 0.769, 0.825, 2.369] detik dengan total waktu tempuh 6.149 detik dan estimasi konsumsi energi sebesar 11.103 Joule.
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The increasing demand for productivity and quality in the manufacturing industry drives the adoption of automation systems based on robots, particularly robotic manipulators. One of the main challenges in deploying industrial robots is motion planning that is optimal, collision-free, and considers multiple objectives, such as minimizing execution time and energy consumption. This study proposes a multi-objective motion planning method for the UR5 robotic manipulator through two main stages. In the first stage, several robot poses are determined using a collision-free algorithm based on a kinematic model, and trajectory optimization is performed in the Cartesian space using a Genetic Algorithm (GA) to obtain a minimal path. In the second stage, trajectory optimization is conducted using the NSGA-II algorithm based on three objectives: execution time, energy consumption, and dynamic constraints, with a dynamic model supporting the energy estimation. Continuous trajectory construction in this process utilizes a
fifth-degree Non-Uniform Rational B-Spline (NURBS) curve interpolation. The optimization output is a Pareto-optimal solution set, from which the best solution is selected using a weighting function. This method successfully plans a collision-free path with seven nodes, generated using GA operators to achieve minimal path length and joint angle changes. The estimated path length is 0.9839 units, while the angle change between line segments can be minimized
to 1.027 radians square. The seven-node configuration is then processed using NURBS interpolation to generate a continuous trajectory in the joint space for derivatives from order zero (position) to order three (jerk). The NSGA-II operator was run for 100 generations, yielding
optimal time intervals between nodes of [0.589, 0.664, 0.933, 0.769, 0.825, 2.369] seconds, with a total execution time of 6.149 seconds and an estimated energy consumption of 11.103

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Collision-Free, Manipulator, NSGA-II, NURBS Curve, Trajectory planning, Bebas tumbukan, Kurva NURBS, Manipulator, NSGA-II, Trajektori optimal
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion
Divisions:	Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Vania Bernicia Amara
Date Deposited:	04 Aug 2025 03:06
Last Modified:	04 Aug 2025 03:06
URI:	http://repository.its.ac.id/id/eprint/126541

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