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All Journal eProceedings of Engineering Telkatika: Jurnal Telekomunikasi Elektro Komputasi & Informatika
Asyfia, Syifa Nurul
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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DESAIN KENDALI KECEPATAN MOBILE ROBOT EMPAT RODA MEKANUM BERBASIS INVERSE KINEMATICS DAN PI ANTI WINDUP PADA KONTES ABU ROBOCON 2023 Asyfia, Syifa Nurul; Abdul Aziz, Arif; Mulkan Rodiana, Irham
Telkatika: Jurnal Telekomunikasi Elektro Komputasi & Informatika Vol. 4 No. 1 (2024): Desember 2024
Publisher : Perpustakaan Universitas Telkom

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Abstract

ABU Robocon is a robotics competition in Asia – Pacific organized by the Asia-Pacific Broadcasting Union (ABU). In 2023, ABU Robocon is holding a contest with the theme "Casting Flower over Angkor Wat". The challenge of this year's competition is the obstacles on the playing field. It will be designed a mobile robot with a mechanical wheel-based to be able to pass through flat plane surfaces and inclined planes with an 18.43° slope on the playing field. PI Anti Windup control method is carried out, in controlling the speed of the robot. The results of the PI Anti-windup control show the system has an overshoot of 26% and a settling time that is in the range of 0.6 seconds to 1.7 seconds. The robot has a success rate of passing inclined plane obstacles of 75%. Keywords:ABU Robocon, mecanum wheel, PI Anti Windup
Desain Kendali Kecepatan Mobile Robot Empat Roda Mekanum Berbasis Inverse Kinematics dan PI Anti Windup pada Kontes ABU Robocon 2023 Asyfia, Syifa Nurul; Aziz, Arif Abdul; Rodiana, Irham Mulkan
eProceedings of Engineering Vol. 11 No. 1 (2024): Februari 2024
Publisher : eProceedings of Engineering

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Abstract

ABU Robocon merupakan kompetisi robotik di Asia – Pasifik yang diselenggarakan oleh Asia-Pacific Broadcasting Union (ABU). Pada tahun 2023, ABU Robocon mengadakan kontes dengan tema ”Casting Flower over Angkor Wat”. Tantangan dari kompetisi tahun ini adalah rintangan pada lapangan permainan. Akan dirancang mobile robot dengan berbasis roda mekanum untuk dapat melewati permukaan bidang datar dan bidang miring dengan kemiringan 18,43° yang ada pada lapangan permainan. Dilakukan metode kendali PI Anti Windup, dalam mengendalikan kecepatan robot. Hasil dari kendali PI Anti windup menunjukkan sistem memiliki overshoot 26% dan settling time yang berada pada rentang 0.6detik hingga 1.7detik. Robot memiliki tingkat keberhasilan melewati rintangan bidang miring sebesar 75%.Kata kunci— ABU Robocon, roda mekanum, PI Anti Windup
Co-Authors Abdul Aziz, Arif Arif Abdul Aziz Irham Mulkan Rodiana Mulkan Rodiana, Irham