Penerapan Inverse Kinematics pada Pengendalian Gerak Robot Lego
Dalam sebuah kompetisi robot Lego, diperlukan sebuah bentuk robot yang dapat dibangun untuk dapat digunakan menyelesaikan keseluruhan tugas dengan cepat. Penggunaan kinematika robot sangat penting untuk mendefinisikan arah dan kecepatan robot agar robot dapat melakukan pergerakan yang akurat serta sesuai dengan titik koordinat yang telah ditentukan. Permasalahan yang muncul adalah bagaimana persamaan inverse kinematics yang ada dapat membuat robot Lego Mindstorm EV3 bergerak mengikuti perencanaan gerak yang telah dibuat. Penelitian ini menggunakan persamaan inverse kinematics pada robot differential wheel dengan menggunakan kontrol Proporsional Integral Derivatif (PID) dan regresi linier. Hasil percobaan menunjukkan bahwa robot memiliki pergerakan yang baik mengikuti jalur terpendek dengan parameter kontrol PID: Kp=1, Ki=0,3, dan Kd=1. Rata-rata error kecepatan yang dihasilkan adalah 1,5795% dan rata-rata error posisi adalah 12,22%.
Nova.S Rezky. “Perencanaan Gerak Robot Mecanum Wheel Menggunakan Persamaan Inverse Kinematics.”, Politeknik Negeri Batam, Batam, 2015.
Giraldi. “Implementasi persamaan inverse Kinematics pada robot differential wheel.”, Politeknik Negeri Batam, Batam, 2015.
Svendsen Alexander. “ RoboMind.” Master’s Thesis, The Arctic University, Norway, 2014.
Wijaya.K Johan. “Pernerapan Invers Kinematics Terhadap Pergerakan Kaki Pada Robot Hexapoda.” Sarjana Teknik Informatika, STMIK GI MDP, Palembang, 2013.
Yufan. H Danang. “Penerapan Invers Kinematics Pada Pergendalian Gerak Robot.” Sarjana Teknik Eletro, Institut Teknologi Sepuluh Nepember, 2012.
Andy. “ Perecangan Model Industrial Robot Secara Kinematics.” Sarjana Ilmu Komputer, Universitas Bina Nusantara, 2009.
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