Aplikasi sistem kontrol navigasi mobile robot (Metode Fuzzy Logic) dan sistem kontrol gerak Arm 1 DOF (Metode ANFIS) pada mobile manipulator cerdas

Palupi, Endah Kinarya (2016) Aplikasi sistem kontrol navigasi mobile robot (Metode Fuzzy Logic) dan sistem kontrol gerak Arm 1 DOF (Metode ANFIS) pada mobile manipulator cerdas. Diploma thesis, UIN Sunan Gunung Djati Bandung.

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Abstract

INDONESIA: Penelitian ini membahas perancangan mobile manipulator cerdas menggunakan logika fuzzy sebagai penggerak mobile robot dan metode ANFIS sebagai penggerak arm. Mobile robot yang digunakan adalah mobil beroda, dengan jenis arm 1 DOF. Prinsip kerja mobile robot adalah bergerak menghindari halangan yang terekam oleh sensor ultrasonik, lalu data jarak ini diproses menggunakan Fuzzy sehingga menghasilkan gerak mobile robot menghindari halangan. Prinsip kerja arm adalah mengambil objek yang terletak pada koordinat x dan y yang terekam oleh kamera, lalu data ini diproses menggunakan ANFIS sehingga menghasilkan gerak servo menuju koordinat objek. Metode runge-kutta orde 4 sebagai penyelesaian dari persamaan differensial gerak mobile robot digunakan untuk mendeskripsikan lintasan gerak robot dengan memvariasikan kecepatan motor kanan dan motor kiri. Pada fuzzy, penelitian ini menggunakan 3 buah input, dimana masing-masing input memiliki 3 kategori, sehingga menghasilkan 27 logika gerak mobile robot. pengujian kevalidan logika terhadap nilai output PWM menghasilkan kevalidan yang sempurna, yaitu 100%. Arm manipulator dapat bergerak menuju koordinat objek yang telah terdeteksi oleh kamera menggunakan dua metode, yaitu ANFIS dan kinematika invers. akan tetapi, hasil penelitian menunjukkan bahwa metode ANFIS lebih efektif daripada kinematika invers, dengan perbandingan hasil ANFIS dan data latih yang mendekati sempurna, yakni 99%. Interpretasi data hasil penelitian menggunakan GUI MATLAB memudahkan peneliti untuk mengamati dan menganalisis hasil. INGGRIS: This study discusses the design of intelligent mobile manipulator using fuzzy logic as a driver of mobile robot and ANFIS method as the driving arm. Mobile robot used is wheeled car, with arm type 1 DOF. The working principle of mobile robot is moving to avoid obstacles recorded by ultrasonic sensors, then the data is processed using fuzzy distance resulting in a movement of a mobile robot to avoid obstacles. The working principle is to take the arm objects located on the x and y coordinates recorded by the camera, and then the data is processed using ANFIS resulting servo motion toward the object coordinates. Runge-Kutta method 4 as a settlement order differential equations of motion of the mobile robot is used to describe the motion of the robot trajectory by varying the motor speed right and left motor speed. On fuzzy, this study uses three inputs, where each input has three categories, resulting in a 27 mobile robot motion logics. Testing the validity of the logic of the PWM output value to produce a perfect validity, that is 100%. Arm manipulator can move toward the coordinates of objects that were detected by the camera using the two methods, the ANFIS and inverse kinematics. However, the results showed that ANFIS method is more effective than the inverse kinematics, by comparison of the results of ANFIS and training data that is close to perfect, that is 99%. Interpretation of research data using GUI MATLAB of tool researchers to observe and analyze the results.

Item Type: Thesis (Diploma)
Uncontrolled Keywords: Mobile Manipulator; Ultrasonic sensors; Arm 1 DOF; Fuzzy Logic; ANFIS; MATLAB; Webcam; Runge-kutta; GUI MATLAB
Subjects: Physics > Data Processing and Analysis of Physics
Divisions: Fakultas Sains dan Teknologi > Program Studi Fisika
Depositing User: rofita fita robi'in
Date Deposited: 05 Apr 2019 02:33
Last Modified: 05 Apr 2019 02:33
URI: http://digilib.uinsgd.ac.id/id/eprint/19648

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