SISTEM KENDALI PADA PERGERAKAN POSISI HUMANOID ROBOT BERODA MENGGUNAKAN PID

T., MUHAMMAD AL DAFFA TUMAGA and Hikmarika, Hera (2022) SISTEM KENDALI PADA PERGERAKAN POSISI HUMANOID ROBOT BERODA MENGGUNAKAN PID. Undergraduate thesis, Sriwijaya University.

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Abstract

The development of technology today has developed very rapidly. One of them is in the field of technology with increasingly sophisticated machines and robots. The type of robot being developed at this time is a humanoid robot. humanoid robot is a robot that has a shape and is programmed to resemble a human being, such as communicating and imitating complex human movements, such as the movement of the hands, feet, head, and human body. One form of human robot that has been developed is a wheeled humanoid robot, the robot has a mechanical system on wheels to change its positions, in order to achieve fast and accurate movement, a control system method is needed. Thus, in this study, a wheeled humanoid robot was developed that uses the PID control method as a movement system for the movement of the wheeled human robot. The PID controller is a simple and accurate controller in maintaining the setpoint value. Thus, the wheeled human robot can move positions quickly and accurately. The wheeled humanoid robot developed in this study will also use a swerve drive as its propulsion. Swerve drives can be used for all drive trains, where all the drive wheels can be steered so that the robot can move in any direction and independently translates the orientation of the chassis. The results obtained from this study are the PID control system which is used as a motion control system in rotating the movement towards the angle of the robot and moving the position of the robot showing good results, evidenced by several tests where when changing positions using the PID controller with values of Kp = 4.8, Ki = 12, and Kd = 0.4608, it shows the robot can move to the setpoint with a small error value, and when rotating the direction of the robot facing the angle, the PI controller with values of Kp = 3.2, and Ki = 5 shows the result that the robot can rotate towards the setpoint angle accurately and quickly.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Humanoid Robot, Swerve Drive, PID, Control System, Position.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Mr Al Daffa Tumaga Muhammad
Date Deposited:	28 Jul 2022 01:48
Last Modified:	28 Jul 2022 01:48
URI:	http://repository.unsri.ac.id/id/eprint/74695

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