IMPLEMENTASI PERGERAKAN KINEMATIKA INVERS FISIKA DALAM PENGENDALIAN ROBOT OTONOM BERODA MECANUM : Menggunakan Tuning PID Berbasis MATLAB untuk Akurasi Tinggi

Wahyu Bagus Syahputro; Dzulkiflih

doi:10.26740/ifi.v15n2.p233-242

Authors

Wahyu Bagus Syahputro Universitas Negeri Surabaya
Dzulkiflih

DOI:

https://doi.org/10.26740/ifi.v15n2.p233-242

Keywords:

kinematika invers, robot beroda mecanum, kontrol PID, ESP32, MATLAB, inverse kinematics, mecanum-wheeled robot, PID control

Abstract

Abstrak

Penelitian ini bertujuan untuk merancang dan mengimplementasikan algoritma kinematika invers berbasis fisika yang efisien untuk pengendalian pergerakan robot otonom beroda mecanum. Fokus utama adalah meningkatkan akurasi dan efisiensi pergerakan robot dengan pendekatan kendali yang adaptif dan responsif terhadap variasi kecepatan. Metode penelitian melibatkan perancangan sistem kinematika invers untuk memetakan gerak robot ke kecepatan roda, diintegrasikan dengan kontrol PID yang dituning menggunakan MATLAB. Komponen hardware mencakup mikrokontroler ESP32, motor driver TB6612FNG, dan motor DC encoder. Pengujian dilakukan di Ruang Robotik Rengganis, dengan variabel kecepatan setpoint 100-1000 RPM. Hasil menunjukkan bahwa rata-rata error kecepatan pada robot fisik setelah tuning PID sebesar 0.21%, sedangkan pada simulasi MATLAB sebesar 0.33%. Respons sistem menunjukkan kondisi stabil dengan error persentase di bawah 0.37% pada kecepatan tinggi. Pendekatan ini terbukti efektif dalam mengurangi deviasi kecepatan dan meningkatkan performa robot, dengan kontribusi pada pengembangan teknologi robotika instrumentasi yang adaptif.

Abstract

This study aims to design and implement a physics-based inverse kinematics algorithm for controlling the motion of a mecanum-wheeled autonomous robot. The main focus is to improve the accuracy and efficiency of robot movement with an adaptive and responsive control approach to speed variations. The research method involves designing an inverse kinematics system to map robot motion to wheel speed, integrated with PID control tuned using MATLAB. Hardware components include ESP32 microcontroller, TB6612FNG motor driver, and DC encoder motor. Testing was conducted in Rengganis Robotics Room, with setpoint speed variables 100-1000 RPM. Results show that the average speed error on the physical robot after PID tuning is 0.21%, while the MATLAB simulation produces an average error of 0.33%. The system response is stable with percentage error below 0.37% at high speeds. This approach is proven effective in reducing speed deviation and improving robot performance, contributing to the development of adaptive instrumentation robotics technology.

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