robotika th22452(2 sks) nuryono s.w., s.t ., m.eng. … · th22452 robotika 3 referensi • yoram...
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TH22452 ROBOTIKA 2
Materi Kuliah
• Konsep Dasar Robotika• Klasifikasi & Struktur Sistem Robotika• Sistem Penggerak & Kontrol Sistem
Robotika• Deskripsi Ruang & Transformasi• Analisis Kinematika & Dinamika Robotika• Aplikasi Robot dlm segi struktur, sensor &
Kecerdasan
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Referensi• Yoram Koren,”Robotics for Engineers”, McGrawHill International• J.J. Craig,”Introduction to Robotics Mechanics & Control”, Addison
Wesley Publ. Co.• Saeed B Niku, Introduct. To Robotics Analysis, Systems, Appl.”,
Prentice Hall• R.J. Schilling, Fundamental of Robotics Analysis & Control”, Prentic
Hall• Ulrich Nehmzov,”Mobile Robotics A practical Intro.”, Springer• Peter I Corke,”Robotics Toolbox for Matlab”,CSIRO• Denis Clark & Michael Owings,”Building Robot Drive Trains”,
McGraw Hill• MB Histand,”Introduction to Mechatronics & measurement
Systems”, McGrawHill• Endra Pitowarno, “Robotika, Desain, Kontrol&Kecerdasan Buatan”,
Penerbit Andi
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Website
• www.robotics.utexas.edu• www.newtonium.com• www.cat.csiro.au/cmst/staff/pic/robot• Robotics at www.acfr.usyd.edu.au• www.robotics.org
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Penilaian
• Tugas Proyek (30%)• Quiz, PR (15%)• Ujian MID (25%)• Ujian Akhir (30%)
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Tugas Proyek
• In groups(kelompok)• Parallel with classroom course• Proposal, progress report, final report &
show how(presentation)
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Apakah ROBOT itu?
• Kata “Robot”berarti Pekerja(forced labour) dlm bahasaslavic, pertamadipakai olehpenulis Karl Capek dari Ceko.
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Apakah ROBOT itu?
• Definisi menurut RIA(definisi klasik) : Robot is a reprogrammable multifunctional manipulator designed to move material, parts, or specialized devices through a variable programmed motions for the performance of a variety of tasks.
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Robot menurut JIRA(Japanese Robot Association)
• Class 1:Manual Handling Devices• Class 2:Fixed Sequence Robot• Class 3:Variable Sequence Robot• Class 4:Playback robot• Class 5:Numerical Control Robot• Class 6:Intelligent Robot
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Robot menurut AFR(The Association Francaise de Robotique)
• Type A:Handling Devices with Manual Control to Telerobotics
• Type B:Automatic Handling Devices with Predetermined Cycle
• Type C:Programmable,servo controlled robot with continous or point-to-point trajectories
• Type D:Same as type C with Capability to acquire information from the environmet
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Robot menurut RIA(RoboticsInstitute of America)
• Hanya Class 3-6 dari JIRA yang dianggapRobot
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ROBOT?
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Sejarah ROBOT
• 1922 Kata”Robot” muncul• 1926 Televox & Rastus Westinghouse Corp.• 1936 Magnetic Controller(Playback
Devices)oleh George Devol.ENIAC computer di UnivPennsylvania
• 1949 Electronic Tortoise oleh Walter• 1952 NC machine di MIT• 1954 Robot programmable pertama
oleh George Devol
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Sejarah Robot
• 1955 Matriks Tranformasi Homogenous oleh Denavit&Hartenberg
• 1961 US Patent utk “Programmed Article Transfer, cikal bakalUnimate Robot
• 1962 Unimation berdiri, robot pertamadi General Motors dari Unimation
• 1967 MarkII dari Unimation.Jepangmengimport robot pengecat
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Sejarah ROBOT
• 1968 Shakey di Stanford Research Univ• 1972 IBM riset utk internal,IBM7565• 1973 T3 dari Cincinnati Milacron• 1978 Unimation kirim PUMA ke GM• 1982 GM&Fanuc Jepang gabung.
Unimation dibeli Westinghouse lalu Staubli.
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Sejarah ROBOTIKA
• 1983 Robot menjadi populer di Industridan Pendidikan
• 1990 Cincinnati Milacron dibeli ABB• Sekarang ???
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Alat otomatis
• Al Jazari, muslim abad (1136-1206M)
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Boneka Karakuri
• Karakuri
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Televox
• Televox
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Electronic Tortoise
• Robot (elektronik analog) kura-kura yg diberi namaElmer dan Elsie yang akan bergerak berdasarkan
deteksi cahaya dari luar
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First Unimate
• George Devol & Unimate
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Automasi&Robotika
• Fixed Automation• Flexible Automation• Programmable Automation
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Keunggulan ROBOT
• Meningkatkanproduktivitas,safety,efficiency,quality
• Bisa bekerja di daerah berbahaya&tidaknyaman
• Tidak lelah dan bosan, tidak perlu cuti• Presisi yang tetap• Lebih akurat dibanding manusia
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Kelemahan ROBOT
• Mahal karena biaya awal,pemasangan,perlengkapan,perbaikan
• Sangat tergantung pada perlengkapan• Robot umumnya kurang tanggap terhadap
kondisi darurat• Menimbulkan masalah sosial
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Komponen ROBOT
• Dapat dipecahmenurut hiraki
• Sensing&Interfacingdi low level
• Estimation&Control dimedium level
• Planning&Reasoningdi high level
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Komponen ROBOT
• 2 loop kendali
• Loop dalam utkmencapai posisitertentu
• Loop luar berkaitandengan Trajectory Control
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Komponen Robot
• Mechanics (Manipulator, rover,endeffector)
• Actuations• Energy• Sensing• Direction&Control
(Controller,processor,software)
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Mechanical
• Sangat dipengaruhiaplikasi
• Chassis• Propulsion• Suspension
• Locomotion
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Aktuator
• Elektris• Hidrolis
• Pneumatis
• SMA
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Energy
• Sumber disesuaikandengan tipe & Aplikasi
• Electric(AC/DC)• Battery
• Bahan Kimia
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Sensor
• Mengukur aspek ygterkait dari lingkunganutk diproses sistem
• Tergantung Aplikasi
• Suhu, Jarak, berat
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Control
• Mengatur agar tugastercapai
• Kendali Kecepatan
• Kendali Posisi• Kendali Lintasan
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Karakteristik Robot
• Payload– The weight a robot can carry & still remain within its
other specifications
• Reach– The maximum distance a robot can reach within its
work envelope
• Precision(Validity)– How accurately a specified point can be reached
• Repetability(Variability)– How accurately the same position can be reached if
the same motion is repeated many times
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Aplikasi ROBOT
• Machine Loading• Pick&Place• Welding• Painting• Inspection• Sampling• Assembly Operation• Manufacturing• Surveillance• Medical
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Aplikasi ROBOT
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Aplikasi ROBOT
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Aplikasi ROBOT
• Produksi Mobil
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Aplikasi ROBOT
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Aplikasi ROBOT
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Aplikasi ROBOT
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Aplikasi Robot
• Robotic Vaccum Cleaner
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Aplikasi ROBOT
• Military
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Aplikasi ROBOT
• Military
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Aplikasi ROBOT
• Testing
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HUMANOIDS
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HUMANOIDS
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HUMANOIDS
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Animaloid
• AIBO
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Animaloid
• Necoro dari Omron
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TWO LEGGED
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MOBILE ROBOT
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Insectronic/Multipods
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KAPAN?
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Referensi
• Yoram Koren,”Robotics for Engineers”, McGrawHill International halaman 1-21
• Saeed B Niku, Introduct. To Robotics Analysis, Systems, Appl.”, Prentice Hall halaman 1-27
• R.J. Schilling, Fundamental of Robotics Analysis & Control”, Prentic Hall halaman 1-12
• Ulrich Nehmzov,”Mobile Robotics A practical Intro.”, Springer halaman 7-10
• Majalah “Servo Magazine”