Sukoyo
Robot arm has an important and significant part in a number of industries, such as automotive, machining, food & beverages, electronics, chemical, and pharmaceutical industries. In general, the coding of the program that will be the movement instructions for a robotic arm is done using a pendant as an assisting tool. The pendant method for programming will become inefficient for production systems with high product variety and low volume characteristic, due to the sheer number of the programs that should be made for all of the products. Such is the case that is being done in PT Dirgantara Indonesia, the only aerospace manufacturing company in Indonesia, where the company intends to push the use of robotic arm extensively during their machining processes. In this case there is a clear need for a method of robotic arm programming that is suitable for the high variety low volume condition. One of the approaches that is suitable for this particular case is by using the programming by demonstration method, where the trajectory identification is done while an operator is performing his intended task. In this research, the recording of the trajectory will be done by using IMU sensors situated in the tools used by the operator. Acceleration signals and angular rate given by the measurement of the sensors will be recorded as time series data, which will be transformed into position and orientation along the time of observation. Further filtering and optimization will be done to reduce drift and produce certain trajectories with certain characteristics, which are minimum movement time and minimum use of energy. The trajectories will then be transformed into a series of instructions that can be interpreted by the robotic arm.
Penerapan Karya Tulis
PT Dirgantara Indonesia need for a method of robotic arm programming that is suitable for the high variety low volume condition.