PERANCANGAN DAN PEMBUATAN ROBOT VACUUM CLEANER 3 WHEEL OMNI DIRECTIONAL MOBILE (Software)
| Main Author: | ERWIYANDI, ADE |
|---|---|
| Format: | Thesis NonPeerReviewed |
| Terbitan: |
, 2014
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| Subjects: | |
| Online Access: |
http://eprints.umm.ac.id/15520/ |
Daftar Isi:
- One type of robot is the most preferred type of robot vacuum cleaner suction process using a mini vacuum cleaner, although it could just use a regular vacuum cleaner. The purpose of the design and manufacture of these robots is to make the robot based on the C language program, algorithm design and create a robot program that can make the robot move in any direction and not hit the wall or other objects and make the program a robot using PID control so that the robot can walk on fine lines.Testing consisted of six parts consists of ATmega128 microcontroller, Ultrasonic Sensor, Gyro Sensor, 4x4 Keypad, Servo motor continues, and the vacuum cleaner motor. The test results show that the vacuum cleaner robot program 3 wheel omni directional mobile Cbbased language created using software CodeVisionAVR. Where the result of making the program can be seen that the robot can move straight, shift left and shift right although there is still an error value. In making algorithms for robot vacuum cleaner 3 wheel omni directional mobile , making the robot can avoid collision against a wall or large objects with a way to shift left or shift right, but there are still many shortcomings to be a good move. This is due to many factors, especially on the PID control and the making of a simple mapping program. In this final project has been designed and fabricated using a robotic vacuum cleaner with auto tuning PID control method based 2nd Ziegler - nichols. Based on the test results of PID parameter with the value of Kp = 7.8 , Ki = 0.1 , Kd = 0.1 and can be applied to the system. Vacuum Cleaner robot system has a response that is able to maintain a balanced position while moving forwards or shifted.