Desain Dan Analisis Kendali Gerak Pada Collaborative Robots UR5 Dengan Metode Liniear Quadratic Regulator (LQR)

Risbowo, Edwin (2021) Desain Dan Analisis Kendali Gerak Pada Collaborative Robots UR5 Dengan Metode Liniear Quadratic Regulator (LQR). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot pada industri pabrik menggunakan klasifikasi robot manipulator. Robot manipulator terdapat komposisi koneksi dari beberapa link oleh beberapa joint. Karakteristik tersebut terdapat pada Collaborative Robots UR5 berbentuk seperti lengan manusia yang mempunyai 6 Degree Of Freedom (DOF). Pembentukan model kinematik dan model dinamik pada lengan robot menggunakan konvensi Denavit-Haternberg dan bentuk umum model dinamik pada robot manipulator. Penelitian ini bertujuan memaksimalkan kendali gerak robot agar mendapatkan performansi yang baik. Metode kendali gerak yang digunakan yaitu Linier Quadratic Regulator (LQR). Metode tersebut menggunakan persamaan liniear untuk menentukan persamaan matriks optimal. Hasil performansi dari kendali Linier Quadratic Regulator (LQR) yaitu variasi Q ke 4 dengan hasil gain K pada setiap respon kecepatan dan respon sudut menyebabkan sistem dinamik dengan kendali LQR pada waktu 3-10 detik mengalami stabil.
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Robots in the factory industry use the classification of manipulator robots. Robot manipulator there is a composition of connections from several links by several joints. These characteristics are found in Collaborative Robots UR5 shaped like a human arm that has 6 Degree Of Freedom (DOF). The formation of the kinematic model and dynamic model on the robot arm uses the Denavit-Haternberg convention and the general form of the dynamic model on the manipulator robot. This study aims to maximize the robot's motion control in order to get good performance. The motion control method used is Linear Quadratic Regulator (LQR). The method uses linear equations to determine the optimal matrix equation. The results of the performance of the Linear Quadratic Regulator (LQR) control, namely the 4th variation of Q with the results of K gain at each speed response and angle response, causes the dynamic system with LQR control at 3-10 seconds to experience stability.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Robot Manipulator, Collaborative Robots, Kendali Gerak, Linier Quadratic Regulator (LQR),Robot Manipulator, Collaborative Robots, Linier Quadratic Regulator (LQR), Motion Control.
Subjects:	Q Science > Q Science (General) > Q180.55.M38 Mathematical models Q Science > QA Mathematics > QA402 System analysis. Q Science > QA Mathematics > QA614.8 Differentiable dynamical systems
Divisions:	Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Edwin Risbowo
Date Deposited:	26 Aug 2021 14:52
Last Modified:	26 Aug 2021 14:52
URI:	http://repository.its.ac.id/id/eprint/90095

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