Rancang Bangun Manipulator Lengan Robot 4 Derajat Kebebasan untuk Mengangkat Telur Ayam Broiler Menggunakan Algoritma Levenberg-Marquardt
DOI:
https://doi.org/10.30871/jaee.v8i2.8738Kata Kunci:
Algoritma Levenberg-Marquardt, Bluetooth, FSR (Force Sensitive Resistor), Lengan Robot, Telur Ayam BroilerAbstrak
Lengan robot yang dikendalikan secara nirkabel melalui Bluetooth dan perangkat Android memungkinkan pengguna untuk memanipulasi objek tanpa kontak langsung. Sensor Force Sensitive Resistor (FSR) digunakan untuk mengukur gaya genggaman gripper, sementara Algoritma Levenberg-Marquardt memastikan kontrol gerakan yang presisi. Pada objek rapuh seperti telur ayam broiler, gripper dirancang untuk berhenti secara otomatis saat mencapai nilai ambang batas (threshold) sebesar 552, yang diperoleh dari rata-rata pengambilan data manual sebanyak 11 kali. Ketika sensor FSR mendeteksi gaya yang melebihi ambang batas, algoritma tersebut menghentikan gripper guna mencegah kerusakan pada objek. Dari hasil pengujian yang dilakukan sebanyak 10 kali, sistem menunjukkan tingkat keberhasilan 100%, dengan gripper berhenti secara tepat tanpa menyebabkan kerusakan pada telur. Variasi tekanan pada setiap objek diduga disebabkan oleh perbedaan ketebalan cangkang atau fluktuasi nilai sensor yang terjadi selama pengujian.
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