Pengaturan Formasi Pada Robot Nonholonomik Menggunakan Pendekatan Virtual Structure Dalam Pemindahan Objek

Willybrordus, H.P.M (2017) Pengaturan Formasi Pada Robot Nonholonomik Menggunakan Pendekatan Virtual Structure Dalam Pemindahan Objek. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Dalam tugas pemindahan barang (logistik) pengaturan bentuk formasi diperlukan untuk mengatasi kondisi slip roda yang dapat menyebabkan perubahan bentuk dan kesalahan gerak formasi robot. Pengaturan formasi diwujudkan dengan menggunakan konsep pendekatan virtual structure untuk mengatasi kondisi tersebut. Pada pendekatan tersebut, peran robot acuan dalam memimpin formasi digantikan dengan titik virtual di komputer. Pendekatan ini dikembangkan untuk memaksa pergerakan tiap robot layaknya pergerakan titik virtual yang tergabung dalam kesatuan struktur formasi. Pengaturan bentuk formasi dengan pendekatan ini menghasilkan kesalahan gerak robot yang minimal sebesar 0,091 meter dari jalur referensi. ================================================================================================================== Formation control to deliver an object is needed to attain condition of slip from wheel on each robot which can make changes form and movement failure of formation. The formation is controlled using concept of a virtual structure approach to handle the condition. In this approach, function of reference robot to lead movement of the formation is replaced with virtual point in the computer. The approach are developed to force an ensemble of robots to behave as if they were particles embedded in a rigid structure. Formation form controlled with this approach produce a minimum movement failure about 0,091 meter from reference virtual path.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Nonholonomik, kinematik, vitual structure, fuzzy logic, push and steere
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Users 13 not found.
Date Deposited: 12 May 2017 01:54
Last Modified: 28 Dec 2017 08:45

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