Hidayati, Megasepti Nur (2021) Desain dan Analisis Kendali Gerak Collaborative Robots UR5 Menggunakan Metode Fuzzy Logic Control (FLC). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Collaborative Robots (Cobots) adalah robot yang ditujukan untuk dapat bekerja berdampingan dengan manusia secara aman dalam suatu ruang kerja. Pada penelitian ini, digunakan objek Universal Robots tipe UR5 yang merupakan salah satu jenis Cobots. Dalam pergerakannya, robot yang memiliki bentuk seperti lengan ini, memerlukan suatu kendali agar menghasilkan respon gerak yang diinginkan. Metode kendali gerak yang digunakan pada penelitian ini adalah Fuzzy Logic Control (FLC) yang disimulasikan berdasarkan model dinamik UR5, dengan tujuan untuk mengontrol kecepatan sudut robot agar menuju referensi kecepatan sudut yang diberikan. Kendali FLC dilakukan dengan pembuatan pola fuzzy, kemudian disimulasikan pada sistem kendali. Percobaan dilakukan hingga hasil simulasi memenuhi desain kriteria yang diinginkan pada penelitian ini yaitu error, selisih kecepatan sudut hasil simulasi dengan kecepatan sudut referensi, tiap joint robot UR5 berada pada rentang -5%<e<5%. Setelah melakukan beberapa kali percobaan pembuatan pola fuzzy, diperoleh dua pola dengan hasil simulasi yang memenuhi desain kriteria. Dua pola fuzzy tersebut terdiri dari tujuh membership function dengan representasi bentuk trapesium dan segitiga, dengan perbedaan pada pola pertama menggunakan
segitiga simetris, sedangkan pola kedua menggunakan segitiga asimetris. Diperoleh hasil bahwa dengan membership function segitiga asimetris menghasilkan nilai error yang lebih kecil daripada membership function segitiga simetris. Dengan error pada joint 1 sebesar -0,0003789%, joint 2 sebesar -0,3861%, joint 3 sebesar -0,302% , joint 4 sebesar -0,302% , joint 5 sebesar 0,2126%, dan joint 6 sebesar 0,00000007711%.
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Collaborative Robots (Cobots) are robots that are intended to be able to work side by side with humans safely in a workspace. Universal Robots type UR5, which is one type of Cobots, is used as the object in this study. In its movement, the arm robot requires a control in order to produce the desired motion response. The motion control method used in this study is Fuzzy Logic Control (FLC) which is simulated based on the UR5 dynamic model, with the aim of controlling the angular velocity of the robot so that it reaches the given angular velocity reference. FLC control work by making fuzzy patterns, then simulated on the control system. The experiment was carried out until the simulation results met the desired design criteria in this study, namely error, the difference between the angular velocity of the simulation results and the reference angular velocity, each joint of the UR5 robot was in the range of . After conducting several experiments on making fuzzy patterns, two patterns were obtained with simulation results that met the design criteria. The two fuzzy patterns consist of seven membership functions with representations of trapezoidal and triangular shapes, with the difference that the first pattern uses a symmetrical triangle, while the second pattern uses an asymmetrical triangle. The result is that the asymmetric triangle membership function produces a smaller error value than the symmetrical triangle membership function. With errors at joint 1 is, joint 2 is, joint 3 is, joint 4 is, joint 5 is, and joint 6 is
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Collaborative Robots, Desain Kendali, Fuzzy Logic Control (FLC), Universal Robots UR5, Control Design |
| Subjects: | Q Science > Q Science (General) Q Science > QA Mathematics Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion |
| Divisions: | Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | MEGASEPTI NUR HIDAYATI |
| Date Deposited: | 27 Aug 2021 02:24 |
| Last Modified: | 27 Aug 2021 02:24 |
| URI: | http://repository.its.ac.id/id/eprint/89869 |
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