SIMULASI GERAK ROBOT SOCCER BERODA MENGGUNAKAN KINEMATIKA OMNIDIREKTIONAL RODA EMPAT

Purnomo,, Widi Saputro (2021) SIMULASI GERAK ROBOT SOCCER BERODA MENGGUNAKAN KINEMATIKA OMNIDIREKTIONAL RODA EMPAT. Skripsi thesis, Institut Teknologi Nasional Malang.

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Abstract

SIMULASI GERAK ROBOT SOCCER BERODA MENGGUNAKAN KINEMATIKA OMNIDIREKTIONAL RODA EMPAT Widi Saputro Purnomo, Aryuanto Soetedjo sapuwidi50@gmail.com, aryuanto@gmail.com ABSTRAK Kontes Robot Indonesia (KRI) adalah ajang kompetisi rancang bangun dan rekayasa dalam bidang robotika. KRI diselenggarakan oleh Pusat Prestasi Nasional, Kementerian Pendidikan dan Kebudayaan Republik Indonesia. Kontes Robot Indonesia ini dapat diikuti oleh oleh tim mahasiswa pada Perguruan Tinggi yang tercatat di Pangkalan Data Pendidikan Tinggi.Kontes Robot Sepak Bola Indonesia (KRSBI) merupakan metaforfosis dari Kontes Robot Cerdas Indonesia (KRCI) Robo Soccer Humanoid League (RSHL) yang terakhir kontes tahun 2012. Untuk mendukung ajang perlombaan ini dilakukan pengembangan robot soccer beroda. Penelitian ini ditujukan untuk mengimplementasikan kinematika omni directional roda empat pada robot soccer beroda. Pada robot soccer beroda ITN Malang sebelumnya tidak menggunakan metode apapun, hanya saja pada tersebut menggunakan trial error, yaitu mencoba menebak arahnya dengan cara mengatur PWM kecepatan motor di setiap roda robot. Hal ini menyebabkan robot menjadi tidak dapat bergerak ke segala arah. Dengan mengimplementasikan kinematika omnidirectional dapat mengoptimalkan gerak robot beroda. Kelebihan dari robot four omnidirectional adalah dapat bergerak kesegala arah tanpa harus mengubah arah hadapnya. Arah gerak pada robot ini bergantung pada perbandingan kecepatan pada tiap roda yang didapat dari perhitungan kinematika robot. Kata Kunci - Omnidirectional, Kinematika, KRSBI, Robot, Mobile robot; SIMULATION OF WHEEL SOCCER ROBOT MOVEMENT USING OMNIDIREKTIONAL KINEMATICS OF FOUR WHEELS Widi Saputro Purnomo, Aryuanto Soetedjo sapuwidi50@gmail.com, aryuanto@gmail.com ABSTRACT The Indonesian Robot Contest (KRI) is an engineering design and engineering competition in the field of robotics. KRI is organized by the National Achievement Center, Ministry of Education and Culture of the Republic of Indonesia. The Indonesian Robot Contest can be joined by a team of students at tertiary institutions listed in the Higher Education Database. The Indonesian Football Robot Contest (KRSBI) is a metaphorosis of the Indonesian Intelligent Robot Contest (KRCI) Robo Soccer Humanoid League (RSHL), the last contest of the year 2012. To support the competition, the development of wheeled soccer robot is carried out. This research is intended to implement four-wheel omni directional kinematics on wheeled soccer robots. In ITN Malang wheeled robot robot previously did not use any method, only that it used trial error, which is trying to guess the direction by regulating the motor speed PWM on each robot wheel. This causes the robot to be unable to move in all directions. By implementing omnidirectional kinematics it can optimize the motion of wheeled robots. The advantage of four omnidirectional robots is that they can move in all directions without having to change the direction facing them. The direction of motion in this robot depends on the ratio of speeds on each wheel obtained from robot kinematics calculations. Keywords - Omnidirectional, Kinematics, KRSBI, Robot, Mobile robot;

Item Type:	Thesis (Skripsi)
Additional Information:	Widi Saputro Purnomo NIM 1612216
Uncontrolled Keywords:	Omnidirectional, Kinematics, KRSBI, Robot, Mobile robot
Subjects:	Engineering > Electrical Engineering
Divisions:	Fakultas Teknologi Industri > Teknik Informatika S1 > Teknik Informatika S1(Skripsi)
Depositing User:	Ms Nunuk Yuli
Date Deposited:	13 Apr 2021 03:19
Last Modified:	13 Apr 2021 03:19
URI:	http://eprints.itn.ac.id/id/eprint/5437

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