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- W2979934295 abstract "Indonesia sebagai negara berkembang ikut berpartisipasi dalam perkembangan teknologi robotika dunia dengan mengadakan kontes robot tiap tahunnya dengan nama KRI (Kontes Robot Indonesia). Dalam kontes robot ini terdiri dari dua robot dimana salah satu robot harus di kendalikan dengan komunikasi nirkabel. Penelitian ini akan membahas tentang pergerakan robot 4 roda omni dengan kontrol PID yang di kendalikan melalui bluetooth. Pengujian ketepatan perhitungan rotary encoder dilakukan dengan membandingkan nilai pembacaan dengan mikrokontroler dengan tachometer dengan kesalahan rata-rata sebesar 1,02%. Komunikasi nirkabel menggunakan modul bluetooth HC-05 dengan jarak maksimum sejauh 14 meter. Parameter kontroler PID diperoleh dengan metode hand tuning . Pada roda 1 diperoleh nilai Kp = 1, Kd = 0.2, dan Ki = 0.013. Pada roda 2 diperoleh nilai Kp = 0.5, Kd = 0.15, dan Ki = 0.012, Pada roda 3 diperoleh nilai Kp = 0.58, Kd = 0.15, dan Ki = 0.095, dan pada roda 4 diperoleh nilai Kp = 0.6, Kd = 0.2, dan Ki = 0.012. Dari parameter ini di peroleh respon kecepatan putaran roda yang stabil dengan error steady state sebesar 10 rpm. Berdasarkan pengujian performa sistem keseluruhan, robot 4 roda omni dapat bergerak ke sudut 0˚, 45˚, 90˚, 135˚, 180˚, 225˚, 270˚, dan 315˚ dengan rata-rata kesalahan sudut gerak robot secara keseluruhan sebesar 1,27%, rata-rata kesalahan arah hadap robot secara keseluruhan sebesar 1,17%. Kata Kunci: roda omni, bluetooth, rotary encoder , PID. ABSTRACT Indonesia as a developing country participates in the development of world robotics technology, held a robotic contest every year under the name KRI (Indonesian Robotic Contest). In this robot contest consists of two robots where one robot must be controlled by wireless communication. This study will discuss the movement of 4 omni wheel robots with PID controls that are controlled via bluetooth. Testing the accuracy of the rotary encoder calculation is done by comparing the reading value with a microcontroller with a tachometer with an average error of 1.02%. Wireless communication uses the HC-05 bluetooth module with a maximum distance of 14 meters. The PID controller parameter is obtained by the hand tuning method. On the first wheel, Kp = 1, Kd = 0.2, and Ki = 0.013 are obtained. On the second wheel Kp = 0.5, Kd = 0.15, and Ki = 0.012, On the third wheel Kp = 0.58, Kd = 0.15, and Ki = 0.095, and on the fourth wheel Kp = 0.6, Kd = 0.2, and Ki = 0.012. From this parameter the wheel rotation speed response is stable with steady state error of 10 rpm. Based on the overall system performance testing, the omni 4 wheel robot can move to the angles of 0˚, 45˚, 90˚, 135˚, 180˚, 225˚, 270˚, and 315˚ with an overall error of the robot's motion angle of 1 , 27%, the average error in the direction of the robot as a whole is 1.17%. Keywords: omni wheel, bluetooth, rotary encoder, PID." @default.
- W2979934295 created "2019-10-18" @default.
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- W2979934295 date "2019-12-08" @default.
- W2979934295 modified "2023-09-28" @default.
- W2979934295 title "ROBOT FOUR OMNI WHEELS DENGAN KONTROL PID MELALUI BLUETOOTH PADA KONTES ROBOT ABU INDONESIA (KRAI)" @default.
- W2979934295 hasPublicationYear "2019" @default.
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