Perpustakaan Digital ITB

The Mitsubishi Movemaster EX RV-M1 is a robotic arm with five degrees of freedom, equipped with a gripper as its end effector. Currently, the Mechanical Engineering Department at Institut Teknologi Bandung owns this model as part of the facilities in the Production Engineering Laboratory. The robot’s original controller has malfunctioned and requires costly replacement. Additionally, the original controller is outdated and inefficient in its design. To address this, a new control system was designed using an Arduino microcontroller, utilizing the robot's remaining functional components. In this research, a new control system has been designed and implemented to operate the Mitsubishi Movemaster EX RV-M1 robotic arm using an Arduino microcontroller and GUI, utilizing existing robot components that can still be used. This research began by identifying malfunctions in the robot’s control system and determining which components that could still be used, followed by the design of hardware and software for the control system. The control algorithms implemented include PID control and Linear Acceleration/Deceleration Control to ensure precise and smooth movement of each robot joint. The new control system was tested under various operational conditions, including the addition of loads and different PWM Duty Cycles (speeds), using a PD controller with parameters optimized through the Ziegler-Nichols Ultimate Sensitivity method followed by fine-tuning. Performance metrics such as settling time, rise time, overshoot, and steady-state error were evaluated. Additionally, repeatability testing revealed that the system generally achieved consistent positioning within the required 0.3 mm tolerance. The highest repeatability deviation observed was 0.338 mm under the most challenging condition, which was 100% PWM Duty Cycle with load. While this deviation slightly exceeded the target, it still falls within the broader industrial standard of below 1.5 mm. This slight increase in variability, particularly under load and high-speed conditions, can be attributed to factors such as the robot's age, mechanical looseness, and backlash. Despite these challenges, the system demonstrated reliable performance with potential for further refinement to consistently meet stricter design specifications.