PENGENDALI PID UNTUK PENGATURAN POSISI ROBOT HEXAPOD

Saputra, Ferizqo (2023) PENGENDALI PID UNTUK PENGATURAN POSISI ROBOT HEXAPOD. Sarjana (S1) thesis, Universitas Islam "45" Bekasi.

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Abstract

Robot is not just a sophisticated toy, but the robot is an application of the concept of science. The mobile robot consists of a wheeled and legged robot. The legged robot that is commonly used is the hexapod robot. Hexapod is a legged mobile robot that has six legs with a total of 3 legs on each side. In this study, the hexapod robot will perform the robot navigation control control action automatically and determine the coordinate position and movement pattern of the robot automatically. This study uses GPS to determine the position of the coordinates and movement patterns of the automatic robot. PID algorithm is used for the accuracy of determining the position of the coordinates and movement patterns of the robot. The results of this study indicate that the RTP which is designed to move towards the destination position has an error of up to 1 meter with the PID parameters obtaining PID tuning results with Kp = 1, Ki = 1 and Kd = 1. The results of the PID tuning of the hexapod robot show that the behavior the robot is overdamped with iterations > 1 and the transient response. The transient response generated from the hexapod robot is time constant = 55 iterations, rise time = 1 iteration to 56 iterations, settling time = 56 iterations, peak time = 56 iterations.

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