Putra, Edo Kesuma (2020) Rancang Bangun dan Eksperimen Joint Impedance Control Berbasis Torsi dengan Kompensasi Friksi dan Gravitasi pada Aktuator Servo Motor untuk Bioinspired Robot. Other thesis, Institut Teknologi Sepuluh Nopember.
Preview |
Text
02311540000013-Undergraduate_Thesis.pdf - Accepted Version Download (2MB) | Preview |
Abstract
Salah satu permasalahan utama yang dihadapi oleh robot pada lingkungan yang tidak terstruktur adalah kontak yang tidak terduga yang dapat menyebabkan kerusakan pada robot atau menciderai manusia. Perlu adanya skema compliant control pada robot agar terjadi interaksi yang aman dan andal antara robot dengan manusia dan lingkungan. Dalam penelitian tugas akhir ini dilakukan rancang bangun joint impedance control berbasis torsi dan kompensator friksi dan gravitasi untuk meminimalisir disturbansi oleh friksi dan gravitasi. Algoritma ini diterapkan pada sebuah set eksperimen lengan robot dengan satu aktuator dan 1 DoF. Dalam penelitian dilakukan pemodelan sistem dengan model inverse dynamics. Eksperimen dilakukan untuk mengidentifikasi parameter fisis dari sistem yaitu parameter momen inersia, friksi, dan gravitasi. Melalui eksperimen dan pemodlan diperoleh model friksi dengan fitness 72.03% dan model gravitasi dengan fitness 95.14%. Pengujian impedance control menunjukkan performa yang compliance dan respon yang sesuai karakteristik massa-pegar-damper yang diinginkan.
===================================================================================================================================
One of the main concern of robot that operates in unstructured environment is unpredicted contact that could result in damage or injury to personnel, environment, and the robot itself. Compliant control scheme needed so robot can interacts with human and its environment safely and reliably. In this final project, a study conducted to designing and experimenting on torque based joint impedance control with friction and gravity compensation. This algorithm applied on an experiment set consisted of 1 DoF robot arm with one actuator. In this study, the system modeled using inverse dynamics model. Experiments conducted to identify physical parameters which are: moment of inertia, friction and gravity. From the experiment, models obtained for friction with fitness of 72.03% and for gravity with fitness of 95.14%. Impedance control test shown compliant performance that results in response according to its desired virtual mass-spring-damper system that could interact safely and realiably with human and its environment.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSF 629.831 2 Put r-1 2020 |
| Uncontrolled Keywords: | impedance control, kompensasi friksi, kompensasi gravitasi, servo motor |
| 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 > TJ213 Automatic control. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK4055 Electric motor T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Edo Kesuma Putra |
| Date Deposited: | 06 Mar 2025 07:08 |
| Last Modified: | 06 Mar 2025 07:08 |
| URI: | http://repository.its.ac.id/id/eprint/74693 |
Actions (login required)
 |
View Item |