PID CONTROL DESIGN FOR A BATIK MACHINE BASED ON CABLE DRIVEN PARALLEL ROBOT TO IMPROVE DRAWING TRAJECTORIES

• Main Author: Aidia Fitrinna, Qinetta
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/86953
• Institution: Institut Teknologi Bandung

As batik patterns evolve with changing times, Batik Komar has introduced an innovation called pendulum batik, which uses a pendulum as a drawing tool. The pendulum is filled with wax and swung by artisans to create harmonograph patterns. However, there are several challenges in producing pendulum batik, such as the instability of the funnel and difficulty controlling the flow from the funnel, which makes it hard to achieve the harmonograph pattern. Additionally, the skills required to create pendulum batik are limited to a small number of artisans, leading to restricted production. A batik machine system based on a cable-driven parallel robot has been developed as a solution to these issues. However, the existing batik machine lacks motion control. This research addresses this gap by designing a motion controller to reduce vibrations and stabilize its movement, enabling the batik machine to produce precise trajectories. A circular trajectory is used to evaluate the dynamic performance of the pendulum batik machine system. The design of the motion controller begins with identifying the dynamics of the pendulum batik machine system to determine its dynamic parameters. This parameter identification is conducted using input and output data from motors, which are string lengths as measured by encoder sensors. The chosen controller is a PID, designed based on the system's dynamic parameters. Four PID parameters are designed for each motor and implemented on the batik machine. The performance of each PID is evaluated based on the RMSE values of the machine's input and output, specifically the string length. Experiments were conducted using circular and spiral trajectories as the basis for evaluating of the PID controller performance. For the circular trajectory, the PID reduced the RMSE of motor 1 by 53.24%, motor 2 by 42.82%, motor 3 by 16.29%, and motor 4 by 82.70%. For the spiral trajectory, the PID reduced the RMSE of motor 2 by 57.69%, motor 3 by 2.03%, and motor 4 by 82.29%. Keywords: Batik machine, Pendulum batik, Cable Driven Parallel Robot, CDPR stability