Motion Control Design and Analysis of UR5 Collaborative Robots Using Fuzzy Logic Control (FLC) Method

摘要

Collaborative Robots (COBOTS) are a type of robot created to work safely with humans in a workspace. The object used in this research is Universal Robots with type UR5. This robot is one of the types of COBOTS. The robot that has a shape like a human arm requires control to produce the desired motion response in its movement. The motion control method used in this study is Fuzzy Logic Control (FLC) which is simulated based on the dynamic model of UR5 to control the angular velocity of the robot to a given angular velocity reference. Motion control design of collaborative robots UR5 using Fuzzy Logic Control by making Fuzzy Patterns. After creating the Fuzzy Pattern, then simulate it on the system. Experiments, making Fuzzy patterns, are carried out until the simulation results meet the desired design criteria in this study, namely error, the difference between the angular velocity of the simulation results and the angular velocity of the reference, each joint of the UR5 robot. After conducting several experiments, two patterns obtained use simulation results that met the design criteria. The two fuzzy patterns consist of seven membership functions with representations of trapezoidal and triangular shapes, with the difference that the first pattern uses a Symmetrical Triangle, while the second pattern uses an asymmetrical triangle. The result is that the asymmetric triangle membership function produces a smaller error value than the Symmetrical Triangle membership function. With errors at 1st joint is −0.0003789%, 2nd joint is −0.3861%, 3rd joint is −0.302%, 4th joint is −0.302%, 5th joint is 0.2126%, and 6th joint is 0,00000007711%.