Kendali Robot Beroda Otonom dengan Inverse Kinematics

  • Michael Julyus Christopher Manullang Institut Pertanian Bogor
  • Medria Kusuma Dewi Hardhienata Institut Pertanian Bogor
  • Karlisa Priandana Institut Pertanian Bogor

Abstract

Penelitian ini dilakukan untuk mengembangkan robot otonom yang dikendalikan dengan pendekatan matematika inverse kinematics. Robot yang digunakan pada penelitian ini adalah robot beroda nonholonomic differential drive. Metode penelitian yang digunakan terdiri atas empat tahapan, yaitu: penentuan parameter robot beroda, pengembangan kontrol inverse kinematics, pembuatan data lintasan (trajectory) berupa garis lurus, dan pengujian sistem kendali. Pada pengujian, data trajectory yang dibangkitkan dibandingkan dengan pengukuran berdasarkan observasi di lapangan. Pengukuran data gerakan robot di lapangan dilakukan dengan dua alat, yaitu dengan global positioning system (GPS) yang terpasang pada robot dan GPS smartphone. Hasil pengujian menunjukkan bahwa robot beroda dapat dikendalikan dengan inverse kinematics dengan rata-rata nilai galat sebesar 0.9 meter.

Kata Kunci: inverse kinematics, kendali, otonom, robot beroda.

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Published
2020-05-31
How to Cite
Manullang, M. J. C., Hardhienata, M. K. D., & Priandana, K. (2020). Kendali Robot Beroda Otonom dengan Inverse Kinematics. Jurnal Ilmu Komputer Dan Agri-Informatika, 7(1), 62-73. https://doi.org/10.29244/jika.7.1.62-73
Section
Articles