Pasaribu, Jevta Marihot (2019) Perancangan Penyelesaian Kinematika Balik Pada Posisi dan Orientasi End Effector Robot Denso Menggunakan Neuro Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Robotika sering digunakan di dunia industri. Aplikasi dari bidang robotika yang sering digunakan di dunia industri adalah manipulator robot. Pada tugas akhir ini akan diselesaikan permasalahan kinematika balik pada manipulator robot denso. Pada kinematika balik diberi masukan titik target yang ingin dituju end effector dan masing-masing joint akan bergerak dengan besar sudut tertentu, sehingga end effector bergerak menuju titik target. Agar manipulator robot dapat bergerak ke titik target yang telah ditentukan, manipulator robot memiliki banyak kemungkinan konfigurasi yang akan terjadi. Diperlukannya metode yang digunakan sebagai solusi kinematika balik sehingga didapatkan besaran sudut tertentu dari masing-masing joint pada manipulator robot. Metode neuro fuzzy akan digunakan untuk mencari satu solusi kinematika balik sehingga dapat menentukan konfigurasi masing-masing joint pada manipulator robot dan mengatur pergerakan posisi dan orientasi dari manipulator robot. Setelah dilakukan perancangan dan pengujian, neuro fuzzy telah dapat diaplikasikan pada kinematika balik manipulator robot denso, dimana end effector manipulator robot telah dapat menuju posisi dan orientasi yang telah di tentukan dengan nilai laju pembelajaran (a) 0.0001 dan nilai ketelitian 0.00005 dengan rata-rata error posisi dibawah
0.00005 m dan error orientasi dibawah 0.00005 derajat.
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Robotics is often used in the industrial world. Applications from the field of robotics that are often used in the industrial world are robotic manipulators. In this final assignment, we will solve the inverse kinematics problem on the denso robot manipulator. On the inverse kinematics the target point is to be inputted to the end effector and each joint will move with a certain angle, so that the end effector moves towards the target point. In order for the robotic manipulator to move to a predetermined target point, the robot manipulator has many possible configurations that will occur. The method needed to be used as a solution to inverse kinematics is to obtain a certain amount of angle from each joint in the robot manipulator. The neuro fuzzy method will be used to find a inverse kinematics solution so that it can determine the configuration of each joint on the robot manipulator and adjust the position and orientation of the robot manipulator. After design and testing, neuro fuzzy can be applied to the inverse kinematics of the Denso robot manipulator, where the robot's end effector manipulator has been able to reach the position and orientation determined by the value of the learning rate (a) 0.0001 and the accuracy value 0.00005 with the average error position below 0.00005 m and orientation error below 0.00005 degrees.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSE 629.89 Pas p-1 2019 |
| Uncontrolled Keywords: | Robotika, Neuro Fuzzy, Manipulator Robot, Kinematika Balik |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > T Technology (General) T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Jevta Marihot Pasaribu |
| Date Deposited: | 14 Mar 2023 02:54 |
| Last Modified: | 14 Mar 2023 02:54 |
| URI: | http://repository.its.ac.id/id/eprint/63743 |
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