Kinematika dan Antarmuka Robot SCARA Serpent

AFRIZAL MAYUB, IVAN SYAHRONI, FAHMIZAL FAHMIZAL, MUHAMMAD ARROFIQ

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ABSTRAK

Penelitian ini menyajikan kendali pergerakan posisi dari robot SCARA Serpent menggunakan persamaan kinematika dan antarmuka berbasis Processing IDE. Antarmuka bertujuan untuk memudahkan dalam pengendalian robot SCARA Serpent dan mendapatkan data koordinat objek. Data ini digunakan sebagai masukan persamaan kinematika balik untuk menentukan besar sudut tiap joint. Untuk mendapatkan hasil pergerakan robot SCARA Serpent yang baik, kendali Proporsional, Integral, Differensial (PID) diterapkan dalam mengendalikan posisi setiap joint-nya. Pada pengujian, robot SCARA Serpent diuiji dengan tiga pengujian, yaitu pengujian sudut joint, pengujian koordinat end-effector, dan pengujian kendali PID. Dari hasil pengujian, sistem dapat berjalan dengan baik. Hasil parameter kendali PID diperoleh dengan tuning secara eksperimental dengan parameter Kp=5.5, Ki=0.001 dan Kd=10 untuk sudut joint shoulder pada robot SCARA Serpent menuju error steady state bernilai nol.

Kata kunci: SCARA Serpent, Kinematika, Antarmuka, Kendali PID.

 

ABSTRACT

This paper presents position control of the SCARA Serpent robot using kinematics equations and Processing IDE-based interfaces. The interface aims to make it easier in controlling the SCARA Serpent robot and to get object coordinate data. This data are used as input to the reverse kinematics equation to determine the angle of each joint. To get good SCARA Serpent robot movement results, Proportional, Integral, Differential (PID) control is applied in controlling the position of each joint. In the testing, the SCARA Serpent robot is tested with three tests, namely joint angle testing, end- ffector coordinate testing, and PID control testing. From the test results, the system can run well. The results of the PID control parameters were obtained by experimental tuning with parameters Kp = 5.5, Ki = 0.001 and Kd = 10 for the joint shoulder angle of the SCARA Serpent robot towards zero steady state error.

Keywords: SCARA Serpent, Kinematics, Interface, PID Controller.


Kata Kunci


SCARA Serpent; Kinematika; Antarmuka; Kendali PID

Teks Lengkap:

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v8i3.561

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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

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Contact: +627272215 (ext. 206)

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