Kontrol Adaptif Pada Sistem Telerobotik Dengan Heterogeneous Robot Dan Time-Delays

Solicha, Rachma Aji (2025) Kontrol Adaptif Pada Sistem Telerobotik Dengan Heterogeneous Robot Dan Time-Delays. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem telerobotik telah banyak digunakan di berbagai bidang, salah satunya untuk kebutuhan medis, seperti Telemedicine. Akurasi yang tinggi diperlukan demi keselamatan pasien dan keberhasilan prosedur pembedahan. Proses transmisi data seringkali terkendala dengan adanya fenomena time delays. Hal ini menyebabkan penurunan akurasi kerja sistem secara keseluruhan. Selain itu, pemberian gaya berlebih oleh operator seringkali dapat merusak struktur dari objek di sisi slave. Sistem telerobotik sebagian besar terdiri dari robot master dan slave yang heterogen, yakni massa dan struktur berbeda. Dalam penelitian ini, kami mengusulkan kerangka kontrol sinkronisasi adaptif dengan robot heterogen dan penundaan waktu yang bervariasi, skema ini juga dilengkapi dengan kontrol stiffness untuk mengatur gaya interaksi robot slave. Hasil simulasi menunjukkan bahwa robot slave mampu mengikuti pergerakan dari robot master, namun dengan tetap memperhatikan interaksi gaya antara robot slave dengan lingkungan sekitar,serta tentunya dengan waktu tunda yang bervariasi.
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Telerobotic systems have been widely used in various fields, one of which is for medical needs, such as Telemedicine. Telemedicine aims to provide specialized healthcare services over long distances, thereby effectively eliminating the need for the physical presence of a doctor and patient in the same location. High accuracy is necessary for patient safety and the success of surgical procedures. Data transmission, communication time delays, and loss of information are inherent in this system. This can have a major impact on system performance,thereby endangering objects on the slave side. In addition, applying excessive force by the operator can often damage the structure of the object on the slave side. Telerobotic systems mostly consist of heterogeneous master and slave robots, with different masses and structures. In this research, we propose an adaptive synchronization control framework with heterogeneous robots and varying time delays, this scheme is also equipped with stiffness control to regulate the slave robot interaction force. The simulation results show that the slave robot is able to follow the movements of the master robot, but still pay attention to the interaction style between the slave robot and the surrounding environment, and of course with varying delay times.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Sistem Telerobotik, Kontrol Adaptif, Sinkronisasi Gerakan Telerobotics System, Adaptive Control, Syncronization Motion
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Rachma Aji Solicha
Date Deposited:	19 Jan 2026 03:17
Last Modified:	19 Jan 2026 03:17
URI:	http://repository.its.ac.id/id/eprint/129467

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