KATA KUNCI: MANUFAKTUR, ROBOT, GUI, KONTROL PROPORSIONAL, END EFFECTOR, TRACKING, PENGONTROLAN ORIENTASI.

• Main Author: Ardi Prayoga, Reka
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/52253
• Institution: Institut Teknologi Bandung

In such transition period of human-powered to machine-powered industrial and manufacturing processes, the development of industrial automation is an important thing to do. Among the things that need to be developed in these conditions is about controlling the orientation of the tools which in some manufacturing processes must be done. In this study, the 6-axis Yaskawa Motoman MH-80 Robot was used as a main test tool for the implementation of an end-effector orientation control system. The robot is expected to be able to maintain the orientation of its end-effector so that it continues to be perpendicular to the object it touches in the surface tracking process. This control utilizes the Robotiq FT-150 Force and Torque Sensor as a feedback provider to the system. The process of building the control system and its implementation is carried out through a GUI, which is created using Microsoft Visual Studio 2019 C# Software. In the GUI, a program is compiled to implement a close-loop system so that the robot can do the surface tracking. In addition, in the GUI, the arrangement of the robot's basic motion calculation subprograms namely "sliding", "closing" and "rotating" is added for this control. By utilizing the concept of proportional control, the robot is instructed to do the movements that have been arranged according to the sensor readings, so that the orientation of the end-effector continues to be perpendicular to the object being touched, while maintaining the pressure force according to the set point. Through system performance testing, the results obtained that the robot could perform surface tracking on the test media. In addition, the robot end-effector can maintain a pressing force of 30N, with a maximum absolute error of 9.9N and maintain the orientation of the end effector to keep it perpendicular to the surface of the test media, with a maximum absolute error of 5.8 °.