SERVO PNEUMATIK UNTUK PENGATURAN POSISI LENGAN ROBOT CARTESIAN
DOI:
https://doi.org/10.23960/jitet.v14i1.8986Abstract Views: 47 File Views: 24
Keywords:
kontrol posisi, proportional valve, robot, servo pneumatikAbstract
Silinder pneumatik adalah salah satu jenis aktuator yang banyak digunakan pada dunia otomasi dan robotika terutama karena kecepatan dan kemudahannya. Namun demikian untuk pergerakan yang presisi maka diperlukan pengaturan khusus sebagaimana pada kontrol motor DC servo. Pada penelitian ini didesain dan diuji coba pengaturan posisi silinder pneumatik dengan menggunakan proportional valve, linier potensiometer sebagai sensor posisi dan Arduino sebagai kontroller. Ujicoba keberhasilan dilakukan dengan metode on-off, P controller, PI controller dan juga PID controller. Hasil ujicoba menunjukkan bahwa pengaturan posisi presisi silinder pneumatik untuk aplikasi lengan robot cartesian dapat dilakukan dengan baik. Besaran gain pada PID controller menentukan nilai kecepatan menuju posisi yang diinginkan (rise-time), kestabilan (overshoot dan settling-time) dan juga kepresisian sistem (steady-state-error).
Downloads
References
M. Schluter and E. A. Perondi, “Mathematical Modeling with Friction of a SCARA Robot Driven by Pneumatic Semi-rotary Actuators,” IEEE Lat. Am. Trans., vol. 18, no. 6, pp. 1066–1076, 2020, doi: 10.1109/TLA.2020.9099684.
C. Y. Froessel;, M. A. Aebi;, S. Demirtas;, and J. Paik, “A Plug-and-Play Pneumatic Supply System,” IEEE Robot. Autom. Lett., vol. 10, no. 7, pp. 7190–7197, 2025, doi: 10.1109/LRA.2025.3573174.
M. S. Xavier et al., “Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications,” IEEE Access, vol. 10, pp. 59442–59485, 2022, doi: 10.1109/ACCESS.2022.3179589.
D. Santoso, D. Susilo, and Y. A. Darmawan, “Pengembangan Algoritma untuk Penyempurnaan Gerakan dan Kestabilan Robot Humanoid berbasis Kondo KHR – 3HV,” Techné J. Ilm. Elektrotek., vol. 14, no. 01, pp. 7–16, 2015, doi: 10.31358/techne.v14i01.119.
K. Lesmana and S. A. Sukarno, “Prototipe Penggunaan Motor Servo Untuk Dispenser Otomatis Berbasis Arduino Dan Sensor HC-SR04,” J. Inform. dan Tek. Elektro Terap., vol. 13, no. 2, pp. 16–22, 2025, doi: http://dx.doi.org/10.23960/jitet.v13i2.6063.
A. Ningsih and C. Puspita, “Kendali PID Training Kit ELABO TS 3400 Menggunakan Sensor Posisi,” Techné J. Ilm. Elektrotek., vol. 15, no. 01, pp. 9–16, 2016, doi: 10.31358/techne.v15i01.136.
A. Ghaffari and Y. Hojjat, “A Novel Absolute Rotary Encoder Based on Soft Pneumatic Sensing Chambers,” IEEE Sensors Journal, vol. 23, no. 3. pp. 1999–2007, 2023. doi: 10.1109/JSEN.2022.3232540.
H. C. Chuang, C. W. Kung, L. W. Chen, and S. B. Jiang, “Nonlinear Error Correction for Magnetic Encoders,” IEEE Sensors Journal, vol. 23, no. 9. pp. 9129–9135, 2023. doi: 10.1109/JSEN.2022.3214575.
M. Dalboni and A. Soldati, “Absolute Two-Tracked Optical Rotary Encoders Based on Vernier Method,” IEEE Transactions on Instrumentation and Measurement, vol. 72. 2023. doi: 10.1109/TIM.2022.3225052.
E. Celik and A. Hulya Obdan, “A New Absolute Encoder Design Based on Piecewise Pseudo-Linear Signals,” IEEE Sensors Journal, vol. 24, no. 16. pp. 25590–25600, 2024. doi: 10.1109/JSEN.2024.3418939.
N. J. Kumar, B. George, and M. Sivaprakasam, “A Membrane-Potentiometer-Based Palpation Position Sensor Suitable for Ophthalmic Anesthesia Training,” IEEE Sens. J., vol. 20, no. 6, pp. 3324–3332, 2020, doi: 10.1109/JSEN.2019.2955499.
Y. Zhang, F. Ni, and H. Liu, “Design and Optimization of Wheatstone Bridge Adjustment Circuit for Resistive Sensors,” IEEE Sens. J., vol. 23, no. 13, pp. 14330–14338, 2023, doi: 10.1109/JSEN.2023.3274927.
D. Utomo, “Alat Pengukur Resistansi Konduktivitas Dan Total Dissolved Solids Air Dengan Teknik Dorong-Tarik,” Techne J. Ilm. Elektron., vol. 11, no. 2, pp. 131–140, 2012, [Online]. Available: https://ojs.jurnaltechne.org/index.php/techne/article/view/77
N. Onasie and S. Sulaiman, “Perancangan Sendok Makan Parkinson dengan Metode PID berbasis Arduino,” Techné J. Ilm. Elektrotek., vol. 22, no. 1, pp. 33–48, 2023, doi: 10.31358/techne.v22i1.346.
A. S. Deryawan, F. D. Setiaji, and D. Santoso, “Perancangan Penendang Bola pada Robot Beroda dengan Kelajuan Bola yang Dapat Diatur Menggunakan PWM,” Techné J. Ilm. Elektrotek., vol. 17, no. 02, pp. 100–108, 2018, doi: 10.31358/techne.v17i02.177.
M. A. Setiawan, F. Hidayat, and E. Sari, “PID Controller for DC-DC Converter under Dynamic Load Change in Photovoltaics based Low-Voltage DC Microgrid,” Kinet. Game Technol. Inf. Syst. Comput. Network, Comput. Electron. Control, vol. 4, no. 1, 2023, doi: 10.22219/kinetik.v8i1.1582.
H. T. Lin, “Development of the Intelligent Pneumatic Sewing Platform for Mask Production,” IEEE Access, vol. 8. pp. 141777–141786, 2020. doi: 10.1109/ACCESS.2020.3013636.
J. Zhang, C. Cui, S. Gu, T. Wang, and L. Zhao, “Trajectory Tracking Control of Pneumatic Servo System: A Variable Gain ADRC Approach,” IEEE Trans. Cybern., vol. 53, no. 11, pp. 6977–6986, 2023, doi: 10.1109/TCYB.2022.3174613.
C. Wang, Y. Shi, Y. Wang, S. Xu, and M. Liang, “Event-Triggered Adaptive Fuzzy Output Feedback Tracking Control for Pneumatic Servo System With Input Voltage Saturation and Position Constraint,” IEEE Trans. Ind. Informatics, vol. 20, no. 3, pp. 4360–4369, 2024, doi: 10.1109/TII.2023.3316222.
C. Wang, Y. Shi, Y. Wang, S. Xu, and Z. Sun, “Position Tracking Control for Pneumatic Servo System Subject to State Constraints and Voltage Saturation,” IEEE/ASME Trans. Mechatronics, vol. 29, no. 4, pp. 2440–2450, 2024, doi: 10.1109/TMECH.2023.3336281.
S. Fu et al., “Untethered Soft Rolling Robot Based on Pneumatic-Tendon Coupled Actuation,” IEEE Robotics and Automation Letters, vol. 9, no. 10. pp. 8897–8904, 2024. doi: 10.1109/LRA.2024.3455852.
A. Informatics, I. S. Mangkunegara, A. Setia, S. Ariyanto, D. N. Triwibowo, and A. Info, “Implementasi Arduino Iot Cloud : Potensiometer Sebagai Pengatur Intensitas Cahaya LED,” J. Sci. Appl. Informatics, vol. 7, no. 1, pp. 65–72, 2024, doi: 10.36085.
V. Susilowati, S. Darmawan, T. Elektro, T. Mesin, U. Tarumanagara, and K. J. Barat, “Implementasi alat pengupas dan pemotong kabel otomatis,” J. Inform. dan Tek. Elektro Terap., vol. 13, no. 1, pp. 446–454, 2025, doi: http://dx.doi.org/10.23960/jitet.v13i1.5646.
C. R. Harahap, F. X. A. Setyawan, R. A. Nasution, U. Lampung, G. Meneng, and K. B. Lampung, “Pengendalian Kecepatan Motor Induksi 3 Fasa Dengan Sumber Panel Surya,” J. Inform. dan Tek. Elektro Terap., vol. 11, no. 3, pp. 797–804, 2023, doi: http://dx.doi.org/10.23960/jitet.v11i3.3424.
M. F. Muzaki, D. R. Nurjannah, K. Cimahi, K. Cimahi, and J. Barat, “Pengaruh Kecepatan Konveyor Pada Penggunaan IOT Dan PLC Secara Real-Time Pada Prototype Car Wash Dengan Pulse Width Modulation,” J. Inform. dan Tek. Elektro Terap., vol. 13, no. 3, pp. 221–228, 2025, doi: http://dx.doi.org/10.23960/jitet.v13i3S1.7566.
T. Putra et al., “RANCANG BANGUN SENSORLESS ( MINIMUM SENSOR ) KONTROL MOTOR INDUKSI 1 FASA PADA MESIN,” J. Inform. dan Tek. Elektro Terap., vol. 12, no. 2, pp. 800–807, 2024, doi: http://dx.doi.org/10.23960/jitet.v12i2.3986.
S. Nur et al., “Kontrol Suhu Pada Teko Listrik Menggunakan PID Dengan Arduino Uno,” J. Inform. dan Tek. Elektro Terap., vol. 13, no. 1, pp. 1193–1200, 2025, doi: http://dx.doi.org/10.23960/jitet.v13i1.5874.
N. D. Imtinan, D. A. Ramadhani, A. Abitama, and N. Miftahulhuda, “Two-Wheel Self-Balancing Robot with PID-Fuzzy and Wall-Following,” J. Inform. dan Tek. Elektro Terap., vol. 13, no. 3, pp. 669–681, 2023, doi: http://dx.doi.org/10.23960/jitet.v13i3.6940.
FESTO, Proportional directional control valve MPYE-5-1/8-HF-010-B. Germany: FESTO Didactic GmbH & Co, 2025. [Online]. Available: https://www.festo.com/media/catalog/203322_documentation.pdf#:~:text=At a glance. General information: • The,directional control valve has a position-controlled spool.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2026 Jurnal Informatika dan Teknik Elektro Terapan
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
