Desain Kendali Kecepatan Mobile Robot Empat Roda Mekanum Berbasis Inverse Kinematics dan PI Anti Windup pada Kontes ABU Robocon 2023
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
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