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The Robust of Intelligent Control for Exoskeleton Hand Robot
The Robust of Intelligent Control for Exoskeleton Hand Robot
Oleh
I Wayan Widhiada, ST, MSc, PhD
Mechanical Engineering Department University of Udayana
Prof. Dr.T.G.Tirta Nindhia, S.T., MT
Back Ground
Expensive Cost
Fake Robot Hand (IRON MAN FROM
BALI)
MAIN COMPONEN IN ROBOTICS
OBSERVASI
DESIGN IN INVENTOR
INTELLIGENT CONTROL
Prototype Robot Exoskeleton
Prototype ini gabungan dari beberapa rangka alumunium setebal 3 milimeter dengan beberapa komponen
pendukung, yaitu motor DC, potensiometer, dan arduino.
Power Supply yaitu DC 12 Volt.
Prototype ini gabungan dari beberapa rangka alumunium setebal 3 milimeter dengan beberapa komponen
pendukung, yaitu motor DC, potensiometer, dan arduino.
Power Supply yaitu DC 12 Volt.
CODING INTO DIAGRAM BLOCK
FUZZY/SIMULINK
PROCESSING
Motor DC
Potensiometer
Gripper
Sensor Otot Arduino AKI 12 Volt
System Fuzzy Logic Control
The Result of Testing Prototype
without load
Error pada sistem yang tanpa kontrol juga cenderung berosilasi .
Maksimum error without Fuzzy Control > 9 %.
Maksimum error with Fuzzy Control <1,9 %
Result of research testing with load
Computing of the maksimum DC motor loading
torque of motor =2 Nm direction = ± 24,5 cm Ø gear 1 = 20 mm Ø gear 2 = 105 mm
torque of motor =2 Nm direction = ± 24,5 cm Ø gear 1 = 20 mm Ø gear 2 = 105 mm
Comparation of GEAR Comparation of TORQUE=
Jarak Beban
Conclusion
1. Fuzzy Logic System on a DC motor that is installed in a robot exoskeleton arm successfully replaces the servo motorthe time taken by the robot moves from 0 deg to 90 deg less than the previous time which is 1.96s.
2. The time needed to reach the peak for the first time is 2.1s. The maximum peak value is 91.71s and has a lower error of 1.9%
3. Graph The movement response given a load
variation of 0.5, 1 and 1.5 kg tends to oscillate. The maximum load that can be lifted by the robot's
exoskeleton arm is 4.37kg
1. Fuzzy Logic System on a DC motor that is installed in a robot exoskeleton arm successfully replaces the servo motorthe time taken by the robot moves from 0 deg to 90 deg less than the previous time which is 1.96s.
2. The time needed to reach the peak for the first time is 2.1s. The maximum peak value is 91.71s and has a lower error of 1.9%
3. Graph The movement response given a load
variation of 0.5, 1 and 1.5 kg tends to oscillate. The maximum load that can be lifted by the robot's
exoskeleton arm is 4.37kg
