SISTEM KENDALI POSISI PADA PERGERAKAN HUMANOID ROBOT BERODA MENGGUNAKAN METODE FUZZY LOGIC

AMIRULSYAH, AHMAD RIZKY and Suprapto, Bhakti Yudho (2022) SISTEM KENDALI POSISI PADA PERGERAKAN HUMANOID ROBOT BERODA MENGGUNAKAN METODE FUZZY LOGIC. Undergraduate thesis, Sriwijaya University.

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Abstract

Technology in the field of robotics has evolved over the last few decades. This can be seen from the number of robots that have been created, for example, humanoid robots that have the ability to move, think, make decisions, or interact with humans. In this study, humanoid robot is designed to be able to move from one place to another, just like a human. Therefore, humanoid robot requires a control system which job is to control, and regulate the state of a system automatically. Fuzzy logic control system is a control system capable of performing mathematical calculations based on human knowledge as a controller, so it does not require a mathematical model of a controlled process. The movement of the humanoid robot in this study uses a swerve drive as a holonomic type drive wheel that has the ability to move freely in all directions. The results obtained from this study are the ability of the humanoid robot to move positions accurately, based on the response by the given rules. In this study, the use of 7 membership function got the best accuracy with an average error of 4.125 cm, so the more membership functions used, the more stable and accurate the results will be.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Humanoid Robot, Swerve Drive, Fuzzy Logic, Sistem Kendali, Posisi.
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: Ahmad Rizky Amirulsyah
Date Deposited: 14 Jul 2022 06:47
Last Modified: 14 Jul 2022 06:47
URI: http://repository.unsri.ac.id/id/eprint/73917

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