Permatasari, Vita (2015) Implementasi Kontrol Bilateral Untuk 1 Dof Haptic Manipulator. Masters thesis, Institut Technology Sepuluh Nopember.
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Abstract
Dalam melaksanakan pekerjaannya, manusia seringkali menemui kendala
antara lain kendala jarak dan tingkat keamanan kondisi lingkungan kerja.
Teknologi telerobotik yang memiliki fungsi haptic menjadi salah satu solusi
permasalahan tersebut. Pada penelitian ini dibuat rancang bangun sistem 1 DOF
haptic manipulator dengan konfigurasi master slave menggunakan kontrol
bilateral haptic manipulator. Pada kontrol bilateral posisi dan informasi
ditransmisikan secara dua arah antara dua manipulator. Informasi posisi
didapatkan menggunakan potensiometer dan informasi gaya didapatkan dengan
merepresentasikan gaya dengan arus menggunakan sensor WCS2702. Terdapat
tiga metode kontrol yang digunakan, yaitu kontrol bilateral posisi simetris, kontrol
bilateral refleksi gaya dan kontrol bilateral umpan balik gaya. Metode kontrol
dengan hasil terbaik yaitu kontrol bilateral umpan balik gaya. Pada sistem kontrol
bilateral umpan balik gaya, slave dapat bergerak mengikuti pergerakan master
dengan error posisi ±2⁰. Ketika lengan slave ditahan obyek keras, lengan master
juga tertahan dengan error posisi ±11⁰. Sedangkan ketika lengan slave ditahan
obyek lunak, pantulan obyek dirasakan lengan master dengan error posisi ±10⁰.
Pergerakan lengan master dan slave lebih ringan dibandingkan menggunakan
kontrol bilateral posisi simetris dan kontrol bilateral refleksi gaya.
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In daily life, human come across various problems in their works, such as
far distance between workplaces, and the safety level of the working environment.
One of the solution for those problems is telerobotic technology with haptic
function. In this research, the design of 1 DOF haptic manipulator is realized
using bilateral control. Master slave configuration is used in the manipulator. For
the bilateral control, position and information are transmitted bidirectionally
between two manipulators. The position is measured using a potentiometer and
force is measured by electrical current representing the force using WCS2702
sensor. Three control methods are applied, namely simetriscal position bilateral
control, force reflection bilateral control, and force feedback bilateral control.
Among the three, force feedback bilateral control produces the best result of
which slave is able to copy the movement of the master with position error of
±2o. Moreover when the arm of the slave is obstructed by a solid object, the arm
of the master is also stop with a position error of ±11o. Furthermore when the arm
of the slave is obstructed by a soft object, stiffness of the object is also sensed by
user operating the master with a position error of ±10o. Last, but not least, the arm
movement of both manipulators are lighter than when simetriscal position
bilateral control and force reflection bilateral control are employed.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.895 Per i |
| Uncontrolled Keywords: | Kontrol Bilateral, Haptic, Posisi Simetris, Refleksi Gaya, Umpan Balik Gaya |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 21 Feb 2019 03:35 |
| Last Modified: | 21 Feb 2019 03:35 |
| URI: | http://repository.its.ac.id/id/eprint/62361 |
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