Pemodelan Mekanisme Docking Smart Warehouse Robot Menggunakan Sistem Kontrol Penjejakan Lintasan dan Stabilisasi Titik

Prasetyo Wibowo Laksono Sanjaya; Annisa Zulfa Hidayah; Augie Widyotriatmo

Published: 2019-01-01 | Vol 2, Issue 1 (2019)

Authors

Prasetyo Wibowo Laksono Sanjaya

Institut Teknologi Bandung

Annisa Zulfa Hidayah

Institut Teknologi Bandung

Augie Widyotriatmo

Institut Teknologi Bandung

Abstract

Pada makalah ini dilakukan pemodelan mekanisme docking sebuah robot beroda untuk aplikasipengisian daya pada robot smart warehouse. Diasumsikan terdapat dua belas lokasi docking dengantujuan postur akhir robot yang siap keluar dari tempat docking. Diusulkan sistem pengontrolanpergerakan robot menggunakan penjejakan lintasan dalam tiga segmen piecewise yang dibangkitkandengan polinomial orde tiga dilanjutkan dengan stabilisasi titik. Dilakukan pula pengontrolanpenggerakan roda kanan-kiri robot untuk mencapai pergerakan yang diinginkan menggunakan pengontrolPI (Proportional-Integral Controller). Diperoleh hasil simulasi pengontrolan yang stabil dari berbagaipostur robot awal menuju berbagai lokasi docking yang telah didefinisikan.Kata Kunci: robot smart warehouse, penjejakan lintasan, stabilisasi titik, kontrol mekanisme docking.

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