RANCANG BANGUN ROBOT HUMANOID SENI TARI DENGAN KONTROL PID SEBAGAI PENGENDALI GERAK ROBOT
| Main Author: | KURNIADI, ELDY |
|---|---|
| Format: | Thesis NonPeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
, 2015
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| Subjects: | |
| Online Access: |
http://eprints.polsri.ac.id/2780/1/HALAMAN%20DEPAN.pdf http://eprints.polsri.ac.id/2780/3/BAB%20I.pdf http://eprints.polsri.ac.id/2780/2/BAB%20II.pdf http://eprints.polsri.ac.id/2780/4/BAB%20III.pdf http://eprints.polsri.ac.id/2780/5/BAB%20IV.pdf http://eprints.polsri.ac.id/2780/6/BAB%20V.pdf http://eprints.polsri.ac.id/2780/7/DAFTAR%20PUSTAKA.pdf http://eprints.polsri.ac.id/2780/ |
Daftar Isi:
- DESIGN OFHUMANOIDROBOTSDANCEWITHPIDCONTROLASMOTION CONTROLROBOT (2014: xiii :60Halaman + 40Gambar + 8Tabel + 10Lampiran) ELDY KURNIADI JURUSAN TEKNIK ELEKTRO PROGRAM STUDI TEKNIK TELEKOMUNIKASI POLITEKNIK NEGERI SRIWIJAYA PID control system that is proportional-integral-derivative controller for determining a precision instrumentation system with the characteristics of the feedback on the proficiency level system. PID controller calculates the error value as the difference between the measured process variables and a desired value. The controller will reduce the error by adjusting the process control input. At the end of this report discussed the balance control system based humanoid robot dance simple PID controller using accelerometer module MPU 6050 as input. MPU 6050 accelerometer module will read the tilt on the X axis (right - left) robot. Error of the slope value is then used as input to the process control robot static equilibrium. The output is the angular position of some servo motors in the joints of the foot robot to obtain the most stable position. PID controller has three important components to perform process control. Components that Kp (proportional gain), Ki (integral gain), and Kd (derivative gain). Optimal values for the components of this experiment are: Kp = 100, Ki = 10, Kd = 100 and a sampling = 3.