Mardiansah, Miftahul Farid (2020) Pemodelan Dan Analisis Dinamika Lengan Robot 3 DOF Menggunakan Kontrol PID. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian tentang lengan robot terus dilakukan seiring dengan perkembangan robot di dunia industri. Pada lengan robot 3 sumbu yang memiliki 3 sumbu rotari membuat lengan robot sangat fleksibel dalam bergerak dengan ruang kerja yang luas namun menempati ruang yang lebih sempit. Untuk mengatur kecepatan yang tinggi dan akurasi yang baik secara bersamaan diperlukan analisis dinamika yang tepat. Dinamika umum robot tergantung pada dua faktor yaitu sistem mekanik dan sistem kontrol robot.
Pada penelitian ini dianalisa dinamika lengan robot yang memiliki 3 derajat kebebasan. Simulasi dinamis menggunakan Simscape Multibody. Sistem kendali yang digunakan pada lengan robot adalah kontrol PID. Trajectory berupa setengah lingkaran, lingkaran, dan bebas digunakan untuk membandingkan dinamika lengan robot dengan sistem kendali yang berbeda.
Hasil pergerakan lengan robot menggunakan automated tuning PID lebih presisi daripada metode ziegler-nichols. Pergerakan lengan robot menggunakan metode ziegler-nichols mengalami osilasi di awal pergerakan, sedangkan automated tuning PID bergerak sesuai dengan referensi trajectory yang diberikan. Parameter Kp, Ki, dan Kd dengan respon paling bagus ditunjukkan oleh sistem kendali PID menggunakan automated tuning pada trajectory bebas sendi ke-2, dengan nilai Kp = 1227.9766, Ki = 7283.8264, dan Kd = 5.2512 didapatkan besar settling time = 0.0484 detik, rise time = 0.402 detik, dan persen overshoot = 10%.
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Research on robotic arms continues in line with the development of robots in the industrial world. The 3-axis robot arm which has 3 rotary axes makes the robot arm very flexible in moving with a large workspace but occupies a narrower space. To regulate high speed and good accuracy at the same time a precise dynamic analysis is required. The general dynamics of a robot depends on two factors, namely the mechanical system and the robot control system.
In this study, the dynamics of a robot arm which has 3 degrees of freedom were analyzed. Dynamic simulation using Simscape Multibody. The control system used in the robot arm is PID control. Trajectory in the form of a semicircle, circle, and free is used to compare the dynamics of the robot arm with different control systems.
The result of the movement of the robot arm using Automated tuning PID is more precise than the ziegler-nichols method. The movement of the robot arm using the ziegler-nichols method oscillates at the beginning of the movement, while the automated tuning PID moves according to the given trajectory reference. The Kp, Ki, and Kd parameters with the best response are shown by the PID control system using automated tuning on the 2nd joint-free trajectory, with a value of Kp = 1227.9766, Ki = 7283.8264, and Kd = 5.2512, the settling time is obtained = 0.0484 seconds, rise time = 0.402 seconds, and percent overshoot = 10%.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Automated Tuning, Kontrol PID, Lengan Robot, Trajectory, Ziegler-Nichols. Automated Tuning, PID Controller, Robotic Arm, Trajectory, Ziegler-Nichols. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis |
| Depositing User: | Miftahul Farid Mardiansah |
| Date Deposited: | 24 Aug 2020 06:36 |
| Last Modified: | 21 Dec 2023 07:24 |
| URI: | http://repository.its.ac.id/id/eprint/80811 |
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