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All Journal Jurnal Pendidikan: Teori, Penelitian, dan Pengembangan JIEET (Journal of Information Engineering and Educational Technology) Jambura Journal of Electrical and Electronics Engineering Indonesian Journal of Engineering and Technology (INAJET) JTE(Jurnal Teknik Elektro) Journal of Vocational and Technical Education (JVTE)
Endryansyah Endryansyah
Universitas Negeri Surabaya
Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Journal : Jambura Journal of Electrical and Electronics Engineering

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Sistem Positioning Robot Four-Omnidirectional Wheels Menggunakan MPU6050 dan Encoder Berbasis PD-Fuzzy Controller Nur Holis; Muhammad Syariffuddien Zuhrie; Endryansyah Endryansyah; Nurhayati Nurhayati
Jambura Journal of Electrical and Electronics Engineering Vol 5, No 2 (2023): Juli - Desember 2023
Publisher : Electrical Engineering Department Faculty of Engineering State University of Gorontalo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.37905/jjeee.v5i2.20138

Abstract

Robot beroda four-omnidirectional wheels merupakan robot autonomous yang dapat bergerak ke arah mana saja tanpa mengubah arah hadap robot tersebut. Sehingga tantangan utama dari robot ini yaitu sistem positioning yang hingga saat ini belum terdapat solusi absolut untuk mengatas permasalahan tersebut. Oleh karena itu dibutuhkan sebuah sistem kendali yang bisa memperbaiki dan mengurangi terjadinya eror positioning robot. Pada penelitian ini menggunakan kombinasi dua controller yaitu PD Controller dan fuzzy logic controller dengan algoritma switching controller yang diolah pada software STM32CubeIDE. Selain itu, pergerakan robot beroda four-omnidirectional wheels menggunakan inverse kinematika sehingga robot dapat menuju titik koordinat yang ditentukan dengan baik dan cepat. Sistem positioning pada penelitian ini menggunakan sensor MPU6050 sebagai pembaca orientasi hadap robot, dan sensor rotary encoder sebagai pembaca posisi robot di lapangan. Pengujian sistem positioning ini dilakukan dengan membandingkan antara positioning tanpa controller, Positioning Fuzzy Logic Controller, Positioning PD Controller dan Positioning dengan PD-Fuzzy controller pada pergerakan home to point, point to point, dan point to home. Diperoleh sistem Positioning dengan PD-Fuzzy controller menjadi yang terbaik dengan rata-rata eror 2,33 cm terhadap sumbu x dan 1,33 cm terhadap sumbu y, serta membutuhkan waktu 3,25 detik untuk mencapai setpoint.-- A four-omnidirectional wheels robot is an autonomous robot that can move in any direction without changing the direction it is facing. So that the main challenge of this robot is the positioning system which until now there is no absolute solution to overcome this problem. Therefore we need a control system that can improve responses and reduce the occurrence of robot positioning errors. In this research, a combination of two controllers was used, namely the PD controller and the fuzzy logic controller with a switching controller algorithm that was processed in the STM32CubeIDE software. In addition, the movement of the four-omnidirectional wheels robot uses inverse kinematics so that the robot can go to the coordinates that are determined properly and quickly. The positioning system in this study uses the MPU6050 sensor as a reader for the orientation of the robot, and a rotary encoder sensor as a reader for the position of the robot in the field. Testing of the positioning system is carried out by comparing positioning without a controller, Positioning Fuzzy Logic Controller, Positioning PD Controller and Positioning with PD-Fuzzy controller on home to point, point to point and point to home movements. The Positioning system with PD-Fuzzy controller is the best with an average error of 2.33 cm on the x-axis and 1.33 cm on the y-axis, and takes 3.09 seconds to reach the setpoint.
Co-Authors Achmad Imam Agung Aditiya Tri Laksono Aditiya Yafioda Ajeng Pratitis Cahyaningtyas Akbar Tahir Kalbii Akhmad Muchlis Musyafa' Alam Sulthonie Habibie Andika Dwi Wibowo Annisa Fitria Salsabella Arif Indra Rizkianto Bambang Suprianto . Baroroh Dhiya' Ushofa Chandra Purianto Juwono Deo Dwi Cahya Dewi Oktavia Prasetya Ega Pramudya Fadillah Fajar Ilham Firmansyah Faldy Naufal Haafizhah Falihul Fajri Al Faruq Farid Baskoro Hanifah Kusumastuti HUDA RAKHMAWAN I G.P. Asto Buditjahjanto I Gusti Putu Asto I Gusti Putu Asto B. I Gusti Putu Asto Buditjahjanto Ichwan Dwi Wahyu Hermanto Ikko Asmbangnirwana Indira Dwi Rachmawati Joko Joko Khrisna Budi Prasetyo Lilik Anifah Masyitah Aulia Miftahur Rohman Miftakhul Janna Dwi Firdausyah Mochamad Masnur Khoirudin Muchlas Samani Muhamad Syariffuddien Zuhrie Muhamad Yusuf Arrifai Muhammad Eko Prasetyo Muhammad Fahri Rizki Setiawan Muhammad Firza Arie Perdana Muhammad Syariffuddien Zuhri Muhammad Syariffuddien Zuhrie Munoto Munoto Nur Holis Nur Kholis Nurhayati Nurhayati Puput Wanarti Rusimamto Puput Wanarti Rusimamto Puput Wanarti Rusimamto, Puput Wanarti Rusmamto Ragil Ardhiansyah Rizda Oktaviana Rizzal Aulia Ramadhan Satria Riagung Lazuardi Stefanus Adhie Nugroho Subuh Isnur Haryudo Syihan Dwilaksono Tedy Muhammadhy Unit Three Kartini Yunita Ari Sandy