| Jurnal Angkasa Tahun 2011 Oleh Daniel Teguh Rudianto |
PEREDAMAN GERAK LENGAN ROBOT MELALUI PENGATURAN KECEPATAN MOTOR BERBASIS LOGIKA SAMAR |
| ABSTRAK |
| Fuzzy logic has been applied in many modern control systems and has progressed impressively over the last decades. This technology has shown an outstanding performance in robotics control and is a useful tool to solve many types of control’s problems. This research was to study an application of fuzzy logic technique to eliminate any vibration at the end effector of robot’s arm caused by the movements of the arm itself. Furthermore, the end effector of robot’s arm will move smoothly when leaving an initial target point, move faster along the defined path, and reach the next target position without any vibration. Simulation was made for two joints robotic arm, which assumed that each joint is activated by a controlled programmed motor dc. The robot’s end effector trajectory was programmed to find a minimum path length. The algorithm and the fuzzy logic membership function is written in MATLAB. The overall excecution of simulation has shown that the end effector robot moved from one target coordinate to the next target position as expected. Keywords: Fuzzy logic, membership function, speed control |
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