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Sofyan, Adri Firmansya
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Computer Science & IT Electrical & Electronics Engineering

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Kendali LQR berbasis inverse kinematik pada robot lengan 3 derajat kebebasan Sofyan, Adri Firmansya; Susanto, Erwin; Irsyad, Rafsanjani Nurul; Prabaswara, Alfitho Satya; Rodiana, Irham Mulkan
JURNAL INFOTEL Vol 17 No 1 (2025): February 2025
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20895/infotel.v17i1.1257

Abstract

Linear Quadratic Regulator (LQR) is one of the optimal control methods on state space-based systems. The LQR control method is an option to be applied to the 3 DOF robot arm because multi-link systems such as robot arms are basically non-linear with quite complex modeling. Using conventional control methods has many trade-offs to find optimal stability between the parameters on the robot arm. System modeling is formulated using the Lagrangian dynamics and Euler-Lagrange method to obtain a nonlinear model of the system and then linearized it using Taylor series expansion. The values of the Q and R matrices can be adjusted to obtain a good system response for a particular trajectory. Tunning the Q and R parameters can also improve the stability of the system by reducing overshoot but causing the rise time of the system to increase
Co-Authors Erwin Susanto Irham Mulkan Rodiana Irsyad, Rafsanjani Nurul Prabaswara, Alfitho Satya