Implementasi Kinematika Trajectory Lingkaran pada Robot Roda Mecanum

Fahmizal Fahmizal(1*), Angga Priyatmoko(2), Afrizal Mayub(3)

(1) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(2) Departemen Teknik Elektro dan Informatika, Universitas Gadjah Mada
(3) Pascasarjana Pendidikan IPA, Universitas Bengkulu
(*) Corresponding Author


Abstract - The movement of the non-holonomic mobile robot is still not efficient because it can only move forward, backward, and turn so that it requires a wheel platform that is able to move more efficiently and more variedly. The use of mecanum wheels on wheeled robots is one of the best solutions because the mecanum wheels can move in all directions and are more stable. This paper proposes a mechanical robot trajectory kinematics design with a simple and easy mechanism to implement using an embedded system such as using Arduino. From the results of this study, it was found that the robot was able to maneuver following a circular trajectory with a radius of 50 cm in 7 seconds.

Keywords - mobile robot, mecanum robot, inverse kinematics, trajectory


Intisari - Pergerakan mobile robot non holonomic masih belum efisien karena hanya dapat bergerak maju, mundur, berbelok sehingga membutuhkan platform roda yang mampu bergerak lebih efisien dan lebih variatif. Penggunaan roda mecanum pada robot beroda menjadi salah satu solusi terbaik karena roda mecanum dapat bergerak ke segala arah dan lebih stabil. Makalah ini mengusulkan sebuah perancangan desain kinematika trajectory robot mecanum dengan mekanisme yang sederhana dan mudah untuk diimplementasikan menggunakan embeded system seperti menggunakan Arduino. Dari hasil penelitian ini diperoleh bahwa robot mampu bermanuver mengikuti trajectory lingkaran  dengan radius 50 cm dalam waktu 7 detik.

Kata kunci - robot beroda, roda mecanum, invers kinematika, trajectory

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