Widodo, Helmi Wijaya Putra (2026) Perencanaan Sistem Kendali PID Two-Link Jib Crane Manipulator dengan MATLAB/Simulink untuk Pengangkatan Material pada Area Kerja Mesin CNC. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem material handling pada area kerja mesin CNC di salah satu perusahaan manufaktur mengalami kendala idle time akibat penggunaan overhead crane yang harus bergantian antara dua bagian produksi. Penelitian ini mengusulkan two-link jib crane manipulator tipe articulating berkapasitas 150 kg dengan jangkauan kerja horizontal hingga 2 meter, yang dikendalikan menggunakan sistem kendali Proportional-Integral-Derivative (PID) agar dapat bergerak secara presisi, stabil, dan aman. Penelitian menggunakan pendekatan riset dan pengembangan berbasis simulasi pada software MATLAB/Simulink. Pemodelan meliputi kinematika maju dengan DH parameter dan dinamika manipulator yang diturunkan melalui persamaan Lagrange untuk rotasi link 1 (θ_1), rotasi link 2 (θ_2), dan translasi vertikal hoist (d_3). Parameter PID ditentukan melalui tuning trial and error pada kondisi beban terberat 150 kg, kemudian diuji pada lima case yang merepresentasikan satu siklus pick-and-place, disertai analisis ayunan pada setiap case. Hasil penelitian menunjukkan kesesuaian yang baik antara hasil perhitungan manual dan simulasi, dengan error posisi end-effector di bawah 5% pada seluruh case (tertinggi 4,567%). Parameter PID hasil tuning (K_p=1.200, K_i=5, K_d=1.000 pada link 1 dan link 2; K_p=400, K_i=10, K_d=300 pada hoist) menghasilkan rise time 1,033 hingga 2,829 detik, settling time 3,159 hingga 4,901 detik, serta steady-state error tertinggi 4,295%. Pada kedua sendi rotasi, case tanpa beban menghasilkan overshoot 0,337 hingga 6,691%, sedangkan case dengan beban 150 kg menghasilkan overshoot 9,946 hingga 13,090%, seiring meningkatnya matriks gravitasi. Arah gerak terhadap gravitasi turut memengaruhi respons, ditunjukkan oleh hoist dengan beban identik yang menghasilkan overshoot 10,055% saat bergerak melawan gravitasi dibanding 9,266% saat bergerak searah gravitasi. Analisis ayunan mencatat simpangan maksimum 7,624° tanpa beban dan 10,925° dengan beban 150 kg, dengan waktu peredaman 17,475 detik yang jauh melampaui settling time seluruh joint. Seluruh case memenuhi kriteria performa yang ditetapkan (settling time ≤ 5 detik, overshoot ≤ 15%, steady-state error ≤ 5%), sehingga sistem kendali PID yang dirancang terbukti mampu mengendalikan manipulator secara stabil dan layak dijadikan alternatif sistem material handling pada area kerja mesin CNC.
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The material handling system in the CNC machining work area of a manufacturing company experiences idle time caused by an overhead crane that must be shared between two production sections. This research proposes an articulating two-link jib crane manipulator with a maximum load capacity of 150 kg and a horizontal working range of up to 2 meters, controlled using a Proportional-Integral-Derivative (PID) control system to achieve precise, stable, and safe movement.
he research applies a simulation-based research and development approach using MATLAB/Simulink. The modeling covers forward kinematics using DH parameters and manipulator dynamics (inertia, Coriolis/centripetal, and gravity matrices) derived through the Lagrange equation for link 1 rotation (θ_1), link 2 rotation (θ_2), and hoist vertical translation (d_3). PID parameters were determined through trial-and-error tuning under the heaviest load condition (150 kg) and tested across five cases representing a complete pick-and-place cycle, accompanied by a load sway analysis for each case. The results show good agreement between manually calculated and simulated, with end-effector position error below 5% across all cases (highest error 4.567%). The tuned PID parameters (K_p=1,200, K_i=5, K_d=1,000 for links 1 and 2; K_p=400, K_i=10, K_d=300 for the hoist) produced rise times of 1,033 to 2,829 seconds, settling times of 3,159 to 4,901 seconds, and a maximum steady-state error of 4,295%. For both revolute joints, unloaded cases produced overshoot of 0.337 to 6,691%, while cases carrying a 150 kg load produced overshoot of 9.946 to 13,090%, corresponding to increase in the gravity matrix. The direction of motion relative to gravity also affected the response, as the hoist carrying an identical load produced 10,055% overshoot when moving against gravity compared to 9,266% when moving with it. The sway analysis recorded a maximum deflection of 7,624° without load and 10,925° with a 150 kg load, with a damping time of 17,475 seconds that far exceeds the settling time of all joints. All test cases met the defined performance criteria (settling time ≤ 5 seconds, overshoot ≤ 15%, steady-state error ≤ 5%), demonstrating that the designed PID control system can stably control the manipulator and is feasible as an alternative material handling system for CNC machining areas.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Two-Link Jib Crane Manipulator, Sistem Kendali PID, MATLAB/Simulink, Material Handling, Kinematika Maju, Dinamika Manipulator, Respons Transien. Two-Link Jib Crane Manipulator, PID Control System, MATLAB/Simulink, Material Handling, Forward Kinematics, Manipulator Dynamics, Transient Response. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ1363 Cranes, derricks, etc. 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 > TJ223 PID controllers |
| Divisions: | Faculty of Vocational > Mechanical Industrial Engineering (D4) |
| Depositing User: | Helmi Wijaya Putra Widodo |
| Date Deposited: | 28 Jul 2026 08:38 |
| Last Modified: | 28 Jul 2026 08:38 |
| URI: | http://repository.its.ac.id/id/eprint/138790 |
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