Perancangan Trajectory Planning pada Case packer Delta Robot 3-Axis dengan Interpolasi Polinomial Kubik untuk Meningkatkan Pick Rate Produk
DOI:
https://doi.org/10.30871/jaee.v9i1.9571Kata Kunci:
pick and place, polinomial kubik, trajectory planning, case packerAbstrak
Mekanisme pick and place dinamis untuk pemindahan objek umumnya menggunakan robot paralel, salah satunya Delta robot 3-axis. Penerapan Pick and Place dinamis membutuhkan koordinasi sistem yang teratur dan bekerja dengan cepat. Objek berupa produk yang akan dikemas dijalankan melalui konveyor infeed secara kontinyu sehingga robot perlu bergerak dengan cepat dan tepat agar dapat mengambil produk tanpa terlewat. Trajectory planning pada robot menjadi begitu penting karena gerakan yang tidak efisien akan menyebabkan adanya risiko produk tidak terambil oleh mesin. Dalam suatu kasus di sebuah industri, didapatkan data dari pengamatan selama 10 menit hanya memiliki pick rate 82%, dimana masih di bawah target standar yaitu lebih dari 90%. Dalam artikel ini dijelaskan implementasi metode polinomial kubik dan inverse kinematic untuk membuat trajectory planning yang efisien dan dapat meningkatkan pick rate dari robot. Pengembangan trajectory planning baru yang menggunakan rangkaian gerakan robot modifikasi lebih efisien dibandingkan dengan penggunaan rangkaian gerakan robot referensi. Rangkaian gerakan robot referensi dipangkas dari 5 gerakan menjadi 4 gerakan, menghasilkan lintasan yang lebih pendek dan mengurangi waktu bergerak yang tidak diperlukan. Dengan penggunaan trajectory planning tersebut didapatkan hasil simulasi pick rate produk sebesar 91,7% dan sudah melampaui target yang ditentukan.
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Referensi
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