Perancangan Kontrol Stabilitas Hexapod Robot Menggunakan Metode Neuro-Fuzzy

Ramadhan, Muhammad Fajar (2017) Perancangan Kontrol Stabilitas Hexapod Robot Menggunakan Metode Neuro-Fuzzy. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Hexapod adalah robot mobile berkaki yang memiliki enam kaki dengan jumlah 3 kaki pada setiap sisinya. Pada penelitian ini akan melakukan aksi kontrol kestabilan pada robot hexapod sehingga dia mampu untuk menstabilkan tubuhnya ketika diam ataupun berjalan pada kondisi medan yang tidak rata dan bidang miring. Dengan menggunakan metode neuro-fuzzy yang merupakan perpaduan antara kecerdasan buatan neural-network dan logika fuzzy logic hexapod mampu memiliki respon yang lebih cepat sehingga pergerakan robot lebih halus dalam menstabilkan tubuhnya pada kondisi diam maupun berjalan. Penyelesaian dari persamaan kaki robot dapat menggunakan penyelesaian geometri dengan menggunakan invers kinematik dan forward kinematik, melakukan perhitungan posisi dan sudut antara tiap sendi robot dan dihitung posisi ujung kaki. Hasil pengujian menunjukkan bahwa dengan gain input sebesar masing-masing roll dan pitch 1/120 dan output sebesar 14 - 25 untuk tiap kaki, menunjukkan bahwa kontroler mampu menyeimbangkan kondisi tubuhnya sampai +/- 40 derajat, dengan pengujian masing-masing dilakukan untuk gangguan roll negatif dan positif dan pitch negatif dan positif, dengan nilai error pada gangguan roll positif sebesar (-0,3321 derajat), error gangguan roll negatif sebesar (0,1342 derajat), error gangguan pitch positif sebesar (0,5258 derajat) dan error gangguan pitch negatif sebesar (-0.1761derajat). ================================================================================================= Hexapod is a legged mobile robot that has six legs with 3 feet on each side. In this study will perform stability control action on the hexapod robot so that he is able to stabilize his body when still or walking on uneven terrain conditions and incline. By using neuro-fuzzy method which is a combination of artificial neural-network intelligence and logic fuzzy logic hexapod able to have a faster response so that the movement of the robot is more smooth in stabilizing the body on the condition of silence or walking. Completion of the robot leg equations can use geometric settlement by using kinematic forward and invers, performing position and angle calculations between each robot joint and calculated foot position. The test results show that with the input gain of each roll and pitch 1/120 and the output of 14-25 for each leg, indicating that the controller is able to balance the condition of his body up to +/- 40 degrees, with each test performed for the roll disorder negative and positive pitch and negative and positive pitch, with error value on positive roll disturbance (-0.3321 degree), negative roll disturbance error (0,1342 degree), positive pitch error (0,5258 degree) and error a negative pitch disturbance of (-0.1761 degrees).

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Robot Hexapod 3-DOF, Kontrol Keseimbangan, Neuro – Fuzzy, Invers Kinematics, Forward Kinematics
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Muhammad Fajar Ramadhan
Date Deposited: 02 Oct 2017 03:57
Last Modified: 08 Mar 2019 06:16
URI: https://repository.its.ac.id/id/eprint/44113

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