{"id":1169,"date":"2010-12-06T01:40:51","date_gmt":"2010-12-05T18:40:51","guid":{"rendered":"http:\/\/tedy.saputro.dev\/blog\/?p=1169"},"modified":"2010-12-06T01:40:51","modified_gmt":"2010-12-05T18:40:51","slug":"sistem-kendali-robot-bagian-1","status":"publish","type":"post","link":"https:\/\/blog.tedy.saputro.dev\/?p=1169","title":{"rendered":"Sistem Kendali Robot &#8211; Bagian 1"},"content":{"rendered":"<p style=\"text-align: justify;\">Pada tulisan kali ini, saya akan membahas sistem kendali sederhana yang biasa digunakan dalam <a class=\"zem_slink\" title=\"Robot\" href=\"http:\/\/en.wikipedia.org\/wiki\/Robot\" rel=\"wikipedia\">robot<\/a>. Bagi yang <em>ngga<\/em> ngerti dibaca &#8211; baca aja, buat wawasan saja \ud83d\ude42<\/p>\n<p style=\"text-align: justify;\">Sistem kontrol robotik pada dasarnya terbagi dua kelompok, yaitu sistem kontrol loop terbuka (<em>open loop<\/em>) <a class=\"zem_slink\" title=\"Dan (rank)\" href=\"http:\/\/en.wikipedia.org\/wiki\/Dan_%28rank%29\" rel=\"wikipedia\">dan<\/a> loop tertutup (<em>close loop<\/em>).<\/p>\n<p style=\"text-align: justify;\">Diagram kontrol loop terbuka pada sistem robot dapat dinyatakan sebagai berikut<\/p>\n<p style=\"text-align: justify;\"><a href=\"https:\/\/i0.wp.com\/ruangtedy.net\/blog\/wp-content\/uploads\/2010\/12\/image001.gif\"><img loading=\"lazy\" decoding=\"async\" data-attachment-id=\"1170\" data-permalink=\"https:\/\/blog.tedy.saputro.dev\/?attachment_id=1170\" data-orig-file=\"https:\/\/i1.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image001.gif?fit=459%2C143&amp;ssl=1\" data-orig-size=\"459,143\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image001\" data-image-description=\"\" data-medium-file=\"https:\/\/i1.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image001.gif?fit=300%2C93&amp;ssl=1\" data-large-file=\"https:\/\/i1.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image001.gif?fit=459%2C143&amp;ssl=1\" class=\"aligncenter size-full wp-image-1170\" title=\"image001\" src=\"https:\/\/i0.wp.com\/ruangtedy.net\/blog\/wp-content\/uploads\/2010\/12\/image001.gif?resize=406%2C126\" alt=\"\" width=\"406\" height=\"126\" data-recalc-dims=\"1\" \/><!--more--><\/a><\/p>\n<p style=\"text-align: justify;\">Kontrol loop terbuka atau umpan maju (<em><a class=\"zem_slink\" title=\"Feed-forward\" href=\"http:\/\/en.wikipedia.org\/wiki\/Feed-forward\" rel=\"wikipedia\">feed forward<\/a> control<\/em>) dapat dinyatakan sebagai sistem kontrol yang outputnya tidak diperhitungkan ulang oleh kontroler. Keadaan apakah robot benar \u2013 benar telah mencapai target seperti yang dikehendaki sesuai referensi, adalah tidak dapat mempengaruhi kinerja kontroler. Kontrol ini sesuai untuk sistem operasi robot yang memiliki aktuator yang beroperasi berdasarkan umpan logika berbasis konfigurasi langkah sesuai urutan, misalnya <a class=\"zem_slink\" title=\"Stepper motor\" href=\"http:\/\/en.wikipedia.org\/wiki\/Stepper_motor\" rel=\"wikipedia\">stepper motor<\/a>. Stepper motor tidak perlu dipasangi sensor pada porosnya untuk mengetahui posisi akhir. Jika dalam keadaan berfungsi baik dan tidak ada masalah beban lebih maka stepper motor akan berputar sesuai dengan perintah kontroler dan mencapi target dengan tepat<\/p>\n<p style=\"text-align: justify;\">Kontrol robot loop tertutup dapat dinyatakan seperti dalam\u00a0 gambar :<\/p>\n<p style=\"text-align: justify;\"><a href=\"https:\/\/i0.wp.com\/ruangtedy.net\/blog\/wp-content\/uploads\/2010\/12\/image002.gif\"><img loading=\"lazy\" decoding=\"async\" data-attachment-id=\"1171\" data-permalink=\"https:\/\/blog.tedy.saputro.dev\/?attachment_id=1171\" data-orig-file=\"https:\/\/i2.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image002.gif?fit=490%2C157&amp;ssl=1\" data-orig-size=\"490,157\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image002\" data-image-description=\"\" data-medium-file=\"https:\/\/i2.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image002.gif?fit=300%2C96&amp;ssl=1\" data-large-file=\"https:\/\/i2.wp.com\/blog.tedy.saputro.dev\/wp-content\/uploads\/2010\/12\/image002.gif?fit=490%2C157&amp;ssl=1\" class=\"aligncenter size-full wp-image-1171\" title=\"image002\" src=\"https:\/\/i0.wp.com\/ruangtedy.net\/blog\/wp-content\/uploads\/2010\/12\/image002.gif?resize=406%2C130\" alt=\"\" width=\"406\" height=\"130\" data-recalc-dims=\"1\" \/><\/a><\/p>\n<p style=\"text-align: justify;\">Pada gambar di atas, jika hasil gerak aktual telah sama dengan referensi maka input kontroler akan nol artinya kontroler tidak lagi memberikan sinyal aktuasi kepada robot karena target akhir perintah gerak telah diperoleh. Makin kecil error terhitung\u00a0 maka semakin kecil pula sinyal pengendalian kontroler terhadap robot, sampai akhirnya mencapai kondisi tenang (<em>steady state<\/em>)<\/p>\n<p style=\"text-align: justify;\">pada tulisan berikutnya saya akan menjelaskan tentang sistem kendali klasik pada robot yakni kendali P, PD, dan PID<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Pada tulisan kali ini, saya akan membahas sistem kendali sederhana yang biasa digunakan dalam robot. Bagi yang ngga ngerti dibaca &#8211; baca aja, buat wawasan saja \ud83d\ude42 Sistem kontrol robotik pada dasarnya terbagi dua kelompok, yaitu sistem kontrol loop terbuka (open loop) dan loop tertutup (close loop). Diagram kontrol loop terbuka pada sistem robot dapat [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1171,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"amp_status":"","footnotes":""},"categories":[3],"tags":[39,88,123,124,430,474,477,520],"jetpack-related-posts":[{"id":2540,"url":"https:\/\/blog.tedy.saputro.dev\/?p=2540","url_meta":{"origin":1169,"position":0},"title":"Tidak Pernah Ada Ruginya","date":"21 Maret 2015","format":false,"excerpt":"Setelah melalui banyak eksperimen dan error\u00a0yang cukup panjang dan membosankan, bulan kemarin saya relatif\u00a0menyeleseikan project kecil - kecilan saya untuk mempelajari\u00a0ROS (Robot Operating System). Saya merakit robot mobile beroda sederhana untuk mengimplementasikan Sistem Operasi Robotik buatan Willow Garage ini. Sebagai informasi, saya menggunakan Raspberry Pi dan Arduino Uno sebagai otak\u2026","rel":"nofollow","context":"dalam \"Keseharian\"","img":{"src":"https:\/\/i1.wp.com\/img.youtube.com\/vi\/KH824p0j1qg\/0.jpg?resize=350%2C200","width":350,"height":200},"classes":[]},{"id":2505,"url":"https:\/\/blog.tedy.saputro.dev\/?p=2505","url_meta":{"origin":1169,"position":1},"title":"Robotic Operating System - Pertemuan Pertama","date":"27 Desember 2014","format":false,"excerpt":"Pertama saya mendengar ROS (Robotic Operating System) adalah sekitar 6 bulan lalu pada sebuah forum diskusi di sebuah kursus online yang diadakan Technische Universitat Munchen melalui edx.org dengan bahasan\u00a0Autonomous Navigation For Flying Robots.\u00a0 Kemudian beberapa bulan berikutnya saya melihat video pengajaran tentang Visual Navigation For Flying Robots di website Computer\u2026","rel":"nofollow","context":"dalam \"Elektronika dan Robotik\"","img":{"src":"","width":0,"height":0},"classes":[]},{"id":1210,"url":"https:\/\/blog.tedy.saputro.dev\/?p=1210","url_meta":{"origin":1169,"position":2},"title":"My Final Assignment Progress","date":"2 April 2011","format":false,"excerpt":"Halo..maafkan saya karena jarang\u00a0 ngupdate blog ini. He.. Seperti posting saya sebelumnya, saya di bulan - bulan ini sedang mengerjakan Tugas Akhir saya yang berjudul, Perancangan Sistem Navigasi Wall Following Pada Robot Mobile. Seperti kata sebuah pepatah, Manusia boleh berencana, tapi Tuhan yang menentukan. Tugas Akhir saya mengenai Robot yang\u2026","rel":"nofollow","context":"dalam \"Elektronika dan Robotik\"","img":{"src":"https:\/\/i0.wp.com\/ruangtedy.net\/blog\/wp-content\/uploads\/2011\/04\/picture-020.jpg?resize=350%2C200","width":350,"height":200},"classes":[]}],"_links":{"self":[{"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/posts\/1169"}],"collection":[{"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1169"}],"version-history":[{"count":0,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/posts\/1169\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=\/wp\/v2\/media\/1171"}],"wp:attachment":[{"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1169"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1169"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.tedy.saputro.dev\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1169"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}