ANALISIS SISTEM NAVIGASI ROBOT HEXAPOD DENGAN PENGENDALI PID (PROPORSIONAL INTEGRAL DERIVATIF)

PRAYOGO, SIGIT DWI (2023) ANALISIS SISTEM NAVIGASI ROBOT HEXAPOD DENGAN PENGENDALI PID (PROPORSIONAL INTEGRAL DERIVATIF). S1 thesis, UNIVERSITAS MUHAMMADIYAH PURWOKERTO.

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Abstract

KRSRI, Kontes Robot SAR Indonesia, is one of the Kontes Robot Indonesia categories. The robot has a mission to save fire victims into a safe zone, navigate through broken obstacles, down roads, coral roads. This descriptive observational study examines the robot's response during field trials. Data was collected by testing the robot walking in a forward direction, backwards direction, sliding left, and sliding right, each as far as 50-100 cm. The research also tested the VL53LOX sensor measurement, testing the robot walking direction using the right wall as a reference and testing the robot's movement when turning right or left. The reading of the VL53LOX sensor experienced an error value toward the actual reading was 1 cm to 2 cm. The AX-18A servo motors were in good condition and suitable for use on a hexapod robot. The servo was able to be connected in a multi-servo configuration. The servo has been adjusted to carry out a leg movement on the robot. The linearity test showed that the robot experiences an almost significant tilt angle error value with an average error value of at most 27.47°. The test is based on the right wall as a reference. The results obtained by the robot ran stably without crashing the wall when given a value of sp = 5, Kp = 5, Ki = 0, Kd = 9. In the test through the broken road, the results obtained by the robot run more stable when given a value of Kp = 5, Ki = 0, Kd = 3 with a wall boundary distance left and right of 18 cm. At bypassing the descending and coral stone roads, the robot can walk stably and slightly rotates right. The error value when the robot turned to the left tended to be more significant.

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