Robot Hybrid pada Kontes Robot ABU Indonesia 2016 (Climbing Task)

  • Alex Nico Simanjuntak Teknik Mekatronika, Politeknik Negeri Batam
Keywords: Kontroller PD, climbing robot, EDF, propeller

Abstract

Pada Kontes Robot ABU Indonesia tahun 2016 terdapat task terakhir yaitu climbing task yang harus diselesaikan oleh robot hybrid untuk memenangkan pertandingan. Pada bagian ini, robot hybrid harus memanjat tiang dan  memasang propeller pada bagian engine. Untuk menyelesaikan task tersebut maka pada penelitian ini dikembangkan sistem pemanjat dan pemasang propeller yang  menggunakan 4 buah roda polyurethane dan 3 buah motor power window sebagai pemanjat. Kemudian akan dikontrol menggunakan metode Proporsional Derivatif (PD) dengan menggunakan EDF dan rotary encoder sebagai feedback. Lalu setelah berada di atas tiang, robot akan memasang propeller ke engine. Hasil percobaan menunjukkan robot dapat meluruskan diri dengan garis dalam waktu 0,3 detik dan memanjat tiang dengan rata – rata error sebesar 2,17°. Robot dapat memasang propeller dengan tingkat keberhasilan 65,0% dengan rata – rata waktu yang dibutuhkan adalah 6,46 detik untuk sukses memasang propeller pada engine. Kegagalan pemasangan propeller disebabkan oleh mekanik robot yang kurang kuat dan pemasangan roda yang tidak sejajar pada pipa.

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References

Fauroux, J. C. and Morillon, J., “Design of a climbing Robot for Cylindro-conic Poles based on rolling self-locking”, Industrial Robot: An International Journal, vol. 37(3), pp. 287-292, 2010.

Wicaksono, G., “Kontrol PID Pada Robot Barelang 3.1”, Buku Tugas Akhir Diploma III, Jurusan Teknik Elektro, Politeknik Negeri Batam, 2012.

Singh, S. and and Kosti, A., “Comparative Study Of Integer Order Pi-Pd Controller and Fractional Order Pi-Pd Controller of A DC Motor for Speed and Position Control”, International Journal of Electrical and Electronic Engineering & Telecommunications, vol. 4(2), pp. 22-26, 2015.

Published
2017-10-31
How to Cite
Simanjuntak, A. (2017). Robot Hybrid pada Kontes Robot ABU Indonesia 2016 (Climbing Task). Journal of Applied Electrical Engineering, 1(1), 19-23. Retrieved from https://jurnal.polibatam.ac.id/index.php/JAEE/article/view/692
Issue
Vol 1 No 1 (2017): JAEE, October 2017
Section
Manuscripts

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