Implementasi Pengendalian Formasi Mobile Cable Driven Parallel Robot (MCDPR)

Wibowo, Satrio Wahyu (2026) Implementasi Pengendalian Formasi Mobile Cable Driven Parallel Robot (MCDPR). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Gempa bumi merupakan bencana alam yang kerap terjadi di berbagai belahan dunia, termasuk Indonesia yang menjadi salah satu wilayah rawan gempa. Dalam upaya mempercepat proses evakuasi korban gempa, diperlukan teknologi yang lebih efisien dibandingkan alat berat konvensional. Salah satu solusi yang potensial adalah penggunaan Cable-Driven Parallel Robot (CDPR) dan pengembangannya menjadi Mobile Cable-Driven Parallel Robot (MCDPR) untuk memperluas ruang gerak dan meningkatkan fleksibilitas sistem. Penelitian ini bertujuan untuk mendesain sistem kendali PID menggunakan MATLAB Simulink dari MCDPR, melakukan eksperimen implementasi pengendalian dua formasi trajektori MCDPR, serta membandingkan hasil eksperimen dengan hasil simulasi. Batasan penelitian meliputi menjalankan eksperimen di workshop Departemen Teknik Mesin, penggunaan Arduino Due sebagai mikrokontroler, serta penggunaan roda konvensional tanpa suspensi dan steering pada mobile base. Penelitian ini diharapkan menjadi referensi pengembangan MCDPR di masa depan yang mampu dijalankan di luar ruangan.
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Earthquakes are natural disasters that frequently occur around the world, including in Indonesia, which is one of the earthquake-prone regions. To accelerate the evacuation process of earthquake victims, a more efficient technology is needed compared to conventional heavy equipment. One promising solution is the use of Cable-Driven Parallel Robots (CDPR) and their development into Mobile Cable-Driven Parallel Robots (MCDPR) to expand the workspace and enhance sistem flexibility. This research aims to design the control system PID using MATLAB Simulink for the MCDPR, conduct experiments on implementing control of two MCDPR trajectory formations, and compare the experimental results with simulation outcomes. The scope of the study includes conducting experiments in workshop Mechanical Engineering Department, the use of Arduino Due as the microcontroller, and the use of conventional wheels without suspension or steering on the mobile base. This study is expected to serve as a reference for future MCDPR development.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	CDPR, MCDPR, MATLAB Simulink, Pengendalian Formasi, Control Formation
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TJ Mechanical engineering and machinery > TJ223.P76 Programmable controllers T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Satrio Wahyu Wibowo
Date Deposited:	02 Feb 2026 04:49
Last Modified:	02 Feb 2026 04:49
URI:	http://repository.its.ac.id/id/eprint/131487

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