Desain dan Analisis Kendali Gerak Collaborative Robots UR5 Menggunakan Metode Proportional Integral Derivative (PID)

Wahyuningtri, Slati (2021) Desain dan Analisis Kendali Gerak Collaborative Robots UR5 Menggunakan Metode Proportional Integral Derivative (PID). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Collaborative Robots merupakan jenis robot industri yang dapat bekerja bedampingan bersama manusia dalam suatu ruang kerja secara aman. UR5 merupakan salah satu jenis collaborative robots. Dalam pergerakannya, collaborative robots UR5 memerlukan suatu sistem kendali yang bertujuan untuk mengendalikan posisi sudut pada joint robot agar bergerak sesuai dengan setpoint yang diinginkan. Metode kendali gerak yang digunakan adalah Proportional Integral Derivative (PID). Parameter PID dituning dengan menggunakan metode trial dan error dan metode Ziegler-Nichols. Hasil terbaik diperoleh ketika menggunakan metode tuning Ziegler-Nichols dengan nilai K_p=3,804,K_i=1,586, dan K_d=2,28, dengan hasil respon posisi sudut end effector memiliki nilai settling time 0,310 detik dan steady state error 0%. Kata kunci : Collaborative Robots UR5, Desain Kendali, Proportional Integral Derivative (PID), Zieger-Nichols ================================================================================================= Collaborative Robots is a type of industrial robot that can work side by side with humans in a workspace safely. UR5 is one type of collaborative robots. In its movement, collaborative robots UR5 requires a control system that aims to control the angular position of the joint robot so that it moves according to the desired setpoint. The motion control method used is Proportional Integral Derivative (PID) method. PID parameters are tuned using the trial and error method and the Ziegler-Nichols method. The best results were obtained when using the Ziegler-Nichols tuning method with a value of K_p=3,804,K_i=1,586, and K_d=2,28, with the result that the end effector angle position response has a settling time value of 0.310 seconds and a steady state error of 0%. Keywords: Collaborative Robots UR5, Control Design, Proportional Integral Derivative (PID), Ziegler-Nichols

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Collaborative Robots UR5, Control Design, Proportional Integral Derivative (PID), Ziegler-Nichols, Desain Kendali
Subjects: Q Science
Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: SLATI WAHYUNINGTRI
Date Deposited: 27 Aug 2021 03:38
Last Modified: 27 Aug 2021 03:38
URI: https://repository.its.ac.id/id/eprint/89807

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