Practical Validation on Simulation of Multi Dobot Magician Trajectory Contour Tracking

P. Anggraeni, W. Candra, A. Sunarya, D. Safitri

2022

Abstract

Manipulators are arm-like robots that have been widely used in the industry to perform repetitive work usually performed by humans. The growing number of distributed control systems currently used by some modern industries is evident by research on cooperative control systems (CCS) where multiple entities is two or more things to achieve the same goal. A multi-agent system consists of many autonomous agents that can interact with each other or with their environment. The advantages of multi-agents system compared to single-agents are tasks that are performed more efficiently and increase the value of tolerance and flexibility in the execution of tasks. There is a problem that is doing research to prove the advantages of the system in manipulator robots. In this final task, a cooperative control system is performed on the manipulator robot, which is control of three manipulator robots in a group using virtual reality simulation with leader-follower concept. The manipulator that used is Dobot Magician which is a multifunctional robot arm for academic purposes. The platform used is Robot Operating System (ROS) and the simulator used is Gazebo. The results of this study are the realization of robot control through virtual reality, PID tuning with Ziegler-Nichols analysis method, precision value of each robot when performing compound control, as well as proofed by end-effector position value of all three manipulator robots. So the conclusion of cooperative control systems can be realized on the robot arm and the resulting precision value can prove the effectiveness of the robot in operation.

Paper Citation

in Harvard Style

Anggraeni P., Candra W., Sunarya A. and Safitri D. (2022). Practical Validation on Simulation of Multi Dobot Magician Trajectory Contour Tracking. In Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES; ISBN 978-989-758-619-4, SciTePress, pages 965-970. DOI: 10.5220/0011973200003575

in Bibtex Style

@conference{icast-es22,
author={P. Anggraeni and W. Candra and A. Sunarya and D. Safitri},
title={Practical Validation on Simulation of Multi Dobot Magician Trajectory Contour Tracking},
booktitle={Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES},
year={2022},
pages={965-970},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011973200003575},
isbn={978-989-758-619-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES
TI - Practical Validation on Simulation of Multi Dobot Magician Trajectory Contour Tracking
SN - 978-989-758-619-4
AU - Anggraeni P.
AU - Candra W.
AU - Sunarya A.
AU - Safitri D.
PY - 2022
SP - 965
EP - 970
DO - 10.5220/0011973200003575
PB - SciTePress