Pemodelan dan simulasi kinematika robot swerve 4 roda

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Indrazno Siradjuddin Sapto Wibowo Arta Ainur Rofiq

Abstract


Pemodelan kinematika berperan penting dalam mengontrol perpindahan robot. Perpindahan robot tidak semata menentukan koordinat awal dan akhir, tetapi juga menentukan kecepatan masing-masing motor yang dibutuhkan untuk mencapai posisi yang diinginkan. Pada penelitian ini, pengembangan algoritma kontrol kinematika untuk mengontrol pergerakan diterapkan pada robot swerve 4 roda. Hal ini bertujuan untuk mengetahui hubungan antara pengerakan robot dengan kecepatan aktuaktor pada ruang 2 dimensi. Metode yang digunakan pada penelitian ini adalah metode motion rigid body analysis. Metode ini digunakan untuk menganalisis hubungan antara pergerakan robot dengan kecepatan aktuaktor kemudian, diimplementasikan pada posisi tujuan yang bersifat diam dan bergerak. Skenario pengujian dilakukan untuk memvalidasi performa dari kontrol algoritma yang ditawarkan dengan cara simulasi, dimana berbantuan bahasa pemrograman python. Hasil simulasi yang  ditampilkan bahwa, robot dapat bergerak dari posisi awal menuju posisi tujuan baik pada target diam mapunu bergerak. Target diam, robot mampu bergerak dengan membentuk jalur secara linier menuju posisi rujuan dan target bergerak, robot mampu bergerak dengan membentuk jalur dengan pola angka delapan. Dari hasil simulasi tersebut didapatkan bahwa, efektivitas dari metode rigid body analysis mampu mengatasi permasalahan yang ditawarkan dimana robot mampu bergerak menuju target yang diam dan bergerak dengan pemodalan kinematika yang telah dirancang.


 


Kinematic modeling plays an important role in controlling movement of the robot. Movement of the robot not only determines the start and end coordinates, but also determines the speed of each motor needed to reach the desired position. In this research, the development kinematic control algorithm to control  movement of 4-wheel swerve robot. This aims to determine the relationship between the movement of the robot with the speed of the actuator in 2 dimensional space. The method used in this research is motion rigid body analysis. This method is used to analyze the relationship between  movement  robot with  speed of the actuator then, implemented at the destination position which is static and dynamic. The test scenario was carried out to validate the performance of the control algorithm offered by simulation, which was assisted by the python programming language. The simulation results show that the robot can move from its initial position to its destination position, both on static and dynamic targets. The target is static, the robot is able to move by forming a linear path to the target position and the target is dynamic, the robot is able to move by forming a path with a figure eight pattern. From the simulation results, it was found that the effectiveness of the rigid body analysis method was able to overcome the problems offered. Where the robot is able to move towards a static and dynamic target with the kinematics modelling that has been designed.



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How to Cite
SIRADJUDDIN, Indrazno; WIBOWO, Sapto; ROFIQ, Arta Ainur. Pemodelan dan simulasi kinematika robot swerve 4 roda. JURNAL ELTEK, [S.l.], v. 20, n. 1, p. 42-52, aug. 2022. ISSN 2355-0740. Available at: <https://eltek.polinema.ac.id/index.php/eltek/article/view/301>. Date accessed: 04 oct. 2022. doi: https://doi.org/10.33795/eltek.v20i1.301.
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