Kendali Kecepatan Robot Beroda Omni dengan Kemampuan Menuju Posisi dan Orientasi yang Diinginkan Berbasis Pengendali PID

Abstract

A robot that uses omni-wheel drive has the ability to move in all directions without having to change the orientation of the robot itself. This ability can be proven if the speed of each motor can be controlled and an algorithm is applied so that the omni-wheeled robot can move to the desired position and orientation. In this paper, an omni wheeled robot speed control will be presented with the ability to go to the desired position and orientation using a Proportional Integral Derivative (PID) controller. The research stage starts from determining the kinematics of the robot used, designing electrical and mechanical systems, designing DC motor control, and determining the system block diagram. The PID parameters used for motor control are Kp = 0.48, Ki = 11.16, and Kd = 0 which are obtained from the results of the PID tuner and to move the robot to the desired position and orientation using Model Predictive Control (MPC). The results of the simulation test show that the omni-wheeled robot can move according to the position and orientation of five set-points based on the kinematics that has been designed. Experimental test results based on encoder reading data show that the omni-wheeled robot has succeeded in getting to the desired position and orientation. However, visually there is an error of 9.6% of the total set-point caused by field technical factors.