Pengendalian Posisi Sudut Joint Robot Manipulator 4 DPF (Degree of Freedom)

Anshori, Diana Yufika (2017) Pengendalian Posisi Sudut Joint Robot Manipulator 4 DPF (Degree of Freedom). Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Tugas Akhir ini membahas masalah kontrol posisi pada joint robot manipulator 4 Degree of Freedom. Aktuator pada joint-joint tersebut berupa dua motor DC dan tiga motor servo. Motor servo digunakan untuk menggerakkan joint pada bagian elbow, wrist, dan end effector. Sedangkan motor DC digunakan untuk menggerakkan joint pada bagian base dan shoulder. Motor DC diberi feedback berupa sensor rotary encoder yang dapat mendeteksi perubahan sudut pada joint robot manipulator. Pada Tugas Akhir ini digunakan kontroler PID agar motor DC dapat berputar dan berhenti pada posisi sudut yang diinginkan. Untuk memudahkan user dalam memonitor serta mengontrol pergerakan joint robot manipulator, maka dibuatlah Human Machine Interface (HMI) menggunakan LabVIEW 2015. Hasil simulasi dan implementasi menunjukkan bahwa pada pengujian sensor rotary encoder didapatkan error rata-rata sebesar 0,074423% pada bagian base dan 0,005181% pada bagian shoulder. Pada pengujian joint ketika tanpa kontroler, respon perubahan sudut joint pada robot manipulator terjadi overshoot, osilasi, dan tidak pernah mencapai keadaan steady. Namun, pada pengujian ketika diberi kontroler, respon perubahan sudut joint pada robot manipulator mampu mencapai keadaan steady. ================================================================================== This final project discusses the problem of control position in joint robot manipulator 4 DOF (Degree of Freedom). Actuators in the joints are two DC motors and three servo motors. Servo motors are used to drive joints on the elbow, wrist, and end effector. While the DC motor is used to move the joint on the base and shoulder. DC motors are given feedback in the form of rotary encoder sensors that can detect angular changes in the joint robot manipulator. In this final project, a PID controller is used to allow the DC motor to rotate and stop at the desired angle position. To facilitate the user in monitoring and controlling the movement of joint robot manipulator, Human Machine Interface (HMI) was made using LabVIEW 2015. The results of simulation and implementation showed that in the rotary encoder sensor test, the average error was 0,074423% on the base and 0,005181% on the shoulder. At joint testing when no controller, the joint angular change response on the robot manipulator occurs overshoot, oscillation, and never reaches steady state. However, on testing when given a controller, the joint angular change response on the robot manipulator is able to reach steady state.

Item Type: Thesis (Diploma)
Uncontrolled Keywords: Robot Manipulator, Sensor Rotary Encoder, Kontroler PID, LabVIEW 2015
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7872 Electromagnetic Devices
Divisions: Faculty of Vocational > Automation Electronic Engineering
Depositing User: Diana Yufika Anshori
Date Deposited: 26 Oct 2017 06:59
Last Modified: 05 Mar 2019 07:40
URI: http://repository.its.ac.id/id/eprint/47947

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