Update Artikelilmiah: 48354

RAFIF SUSENA

NIM

Judul Artikel

Abstrak (Bhs. Indonesia)

Perkembangan teknologi robotika semakin pesat dalam penerapannya di berbagai bidang, termasuk kompetisi robotika seperti Kontes Robot ABU Indonesia. Robot beroda X-Drive dengan kemampuan gerak omnidirectional, memerlukan sistem kendali yang presisi agar dapat bergerak akurat ke posisi tertentu. Algoritma PID sering digunakan karena keandalan dan kesederhanaannya. Selain itu, aspek dinamis seperti efek coriolis dan slip akibat percepatan berlebihan turut mempengaruhi perilaku gerak robot. Penelitian ini bertujuan untuk mengembangkan sistem kendali pergerakan yang mampu mengontrol pergerakan robot secara presisi serta menganalisis pengaruh variasi konstanta PID dan kecepatan terhadap akurasi gerak robot. Metode yang digunakan dalam penelitian ini adalah rancang bangun algoritma kendali kecepatan dan posisi berbasis PID untuk mengatur gerak robot. Algoritma juga mencakup perhitungan kinematika dan penyesuaian kecepatan untuk menghindari slip berdasarkan efek dinamis tanpa melibatkan gaya secara langsung. Pengujian mengevaluasi respon settling time, steady-state error, overshoot, serta akurasi gerak berdasarkan RMSE dan lateral deviation. Hasil penelitian menunjukkan bahwa konstanta optimal Kp = 0.6, Ki = 12, dan Kd = 0.008 menghasilkan settling time 63 ms, tanpa overshoot, dan steady-state error 0.0069 m/s. Nilai RMSE terkecil tercatat pada gerakan lurus (0.2156) pada kecepatan rendah, meningkat ke 0.3220 pada kecepatan tinggi. Lateral deviation bertambah seiring dengan peningkatan kecepatan dari 0.1497 m menjadi 0.1825 m. Sementara itu, pada gerakan serong dan linear rotasi simultan, kecepatan tinggi justru meningkatkan kestabilan gerak.

Abtrak (Bhs. Inggris)

The development of robotics technology is increasingly rapid in its application in various fields, including robotics competitions such as the ABU Indonesia Robot Contest. X-Drive wheeled robots with omnidirectional motion capabilities, require a precise control system in order to move accurately to a certain position. PID algorithms are often used due to their reliability and simplicity. In addition, dynamic aspects such as coriolis effect and slip due to excessive acceleration also affect the motion behavior of the robot. This research aims to develop a movement control system that is able to control the movement of the robot precisely and analyze the effect of variations in PID constants and speed on the accuracy of robot motion. The method used in this research is the design of a PID-based speed and position control algorithm to regulate robot motion. The algorithm also includes kinematics calculation and speed adjustment to avoid slip based on dynamic effects without directly involving force. The test evaluates the response settling time, steady-state error, overshoot, as well as motion accuracy based on RMSE and lateral deviation. The results showed that the optimal constants Kp = 0.6, Ki = 12, and Kd = 0.008 resulted in a settling time of 63 ms, no overshoot, and a steady-state error of 0.0069 m/s. The smallest RMSE value was recorded in straight motion (0.2156) at low speed, increasing to 0.3220 at high speed. The lateral deviation increased with speed from 0.1497 m to 0.1825 m. Meanwhile, in the simultaneous oblique and linear rotational motions, high speed increased the motion stability.

Kata kunci

Pembimbing 1

Pembimbing 2

Pembimbing 3

Tahun

Jumlah Halaman