Prototipe Sistem Arm Robot Pada Mesin Sortir Kecacatan Permen Dengan Metode Inverse Kinematics

Firdaus, Muhammad Ashaab (2022) Prototipe Sistem Arm Robot Pada Mesin Sortir Kecacatan Permen Dengan Metode Inverse Kinematics. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada PT Fonusa Agung Mulia terdapat permasalahan dalam proses quality control (QC) yaitu adanya permen cacat yang lolos dari proses tersebut. Hal ini dikarenakan adanya faktor ketelitian dan kelelahan pada petugas sehingga adanya permen cacat yang lolos dari proses QC. Pada proyek akhir ini dibuat sebuah prototipe mesin sortir dan sistem aktuator kecacatan permukaan permen berdasarkan citra untuk membantu proses sortir dan pengambilan permen sesuai klasifikasi secara otomatis. Sistem aktuator tersebut menggunakan prototipe arm robot. Pengendalian pergerakan arm robot menggunakan inverse kinematics, metode ini digunakan untuk menghitung kinematika robot dengan input berupa nilai koordinat permen yang sudah diketahui untuk menentukan nilai sudut tiap joint. Hasil yang didapat dalam sistem aktuator pada mesin sortir kecacatan permen dengan arm robot dapat mengambil produk permen cacat yang sudah diidentifikasi. Pada pengujian yang telah dilakukan, diketahui bahwa sistem arm robot yang digunakan belum efektif karena dari 20 sampel percobaan dalam 2x pengujian didapat presentase rata – rata keberhasilan sebesar 57,5%.
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At PT Fonusa Agung Mulia, there is a problem in the quality control (QC) process, namely the existence of defective candy that escapes the process. This is due to the factor of accuracy and fatigue in the officers so that the presence of defective candy that escapes the QC process. In this final project, a prototype of a sorting machine and a candy surface defect actuator system based on imagery was made to help the process of sorting and retrieving candies according to classification automatically. The actuator system uses a prototype arm robot. Controlling the movement of the robot arm using inverse kinematics, this method is used to calculate the robot's kinematics with input in the form of a known candy coordinate value to determine the angular value of each joint. The results obtained in the actuator system on the candy defect sorting machine with the robotic arm can take the defective candy product that has been identified. In the tests that have been carried out, it is known that the arm robot system used has not been effective because from 20 experimental samples in 2x tests, an average percentage of success was obtained at 57.5%.

Item Type:	Thesis (Diploma)
Additional Information:	RSEO 621.815 Fir p-1 2022
Uncontrolled Keywords:	Quality Control, Sortir, Inverse Kinematics, Arm Robot. Quality Control, Sorting, Inverse Kinematics, Arm Robot.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Mr. Marsudiyana -
Date Deposited:	16 Jul 2026 01:52
Last Modified:	16 Jul 2026 01:52
URI:	http://repository.its.ac.id/id/eprint/135155

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