Pengendalian Arm Robot Berbasis Invers Kinematics Menggunakan Metode ANN
DOI:
https://doi.org/10.22441/jte.2025.v16i3.001Kata Kunci:
Arm Robot, End effector, Error, ANN, Inverse kinematics, Kontrol RobotAbstrak
Fokus penelitian ini adalah untuk mengkomparasi hasil kinerja pengendalian pergerakan lengan robot yang menggunakan ANN dengan ANN + Inverse kinematics. Diharapkan metode ini dapat meningkatkan akurasi dan stabilitas sistem kontrol pada robot, yang merupakan tantangan utama dalam bidang robotika. Dalam penelitian ini, dua pendekatan pengendalian diuji, yaitu metode Normal dan metode Inverse kinematics yang ditambahkan, untuk membandingkan respons sistem berdasarkan parameter kesalahan dan kinerja kontrol. Parameter yang dianalisis mencakup Overshoot, Rise Time, Max Amplitudo, serta empat kriteria error yaitu Integral of Absolute Error, Integral of Time-weighted Absolute Error, Integral of Squared Error, dan Integral of Time-weighted Squared Error. Hasil eksperimen menunjukkan bahwa metode Inverse kinematics lebih unggul dalam mengurangi kesalahan absolut keseluruhan dan meningkatkan kestabilan jangka panjang, yang ditunjukkan oleh nilai IAE dan ITAE yang lebih rendah dibandingkan dengan metode Normal. Selain itu, Inverse kinematics berhasil mengurangi overshoot secara signifikan (0,510%) dibandingkan dengan metode Normal (93,889%), meskipun memerlukan waktu yang lebih lama untuk mencapai posisi target. Namun, metode Normal menunjukkan respons yang lebih cepat dengan rise time yang lebih pendek serta nilai ISE dan ITSE yang lebih rendah, meskipun kestabilan jangka panjangnya tidak sebaik Inverse kinematics. Penelitian ini memberikan wawasan tentang keseimbangan antara kecepatan respons dan kestabilan dalam desain sistem pengendalian robot, serta berkontribusi pada pengembangan algoritma kontrol berbasis Inverse kinematics dan ANN untuk aplikasi robotika yang memerlukan akurasi tinggi dan kestabilan jangka panjang.
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