Pengujian model kinematika robot mecanum melalui simulasi MATLAB dan analisis pergerakan robot

Akhdanul Huda; Novian Fajar Satria; Nofria Hanafi

doi:10.33795/eltek.v24i1.7008

Authors

Akhdanul Huda Jurusan Teknik Mekatronika, Politeknik Elektronika Negeri Surabaya
Novian Fajar Satria Jurusan Teknik Mekatronika, Politeknik Elektronika Negeri Surabaya
Nofria Hanafi Jurusan Teknik Mekatronika, Politeknik Elektronika Negeri Surabaya

DOI:

https://doi.org/10.33795/eltek.v24i1.7008

Keywords:

Robot Mecanum, Simulasi MATLAB, Analisis Pergerakan Robot

Abstract

Penelitian ini bertujuan untuk menguji dan membandingkan model kinematika robot Mecanum melalui pendekatan simulasi MATLAB dan analisis pergerakan robot secara eksperimental. Robot Mecanum dikenal dengan kemampuannya untuk bergerak omnidirectional, yang memungkinkan navigasi fleksibel dalam berbagai arah tanpa perlu berputar. Untuk mencapai tujuan tersebut, model kinematika robot Mecanum pertama-tama diuji melalui simulasi MATLAB, yang memberikan gambaran teoritis tentang pergerakan robot pada berbagai kecepatan dan sudut. Selanjutnya, pengujian eksperimental dilakukan untuk memverifikasi hasil simulasi dengan pergerakan robot nyata. Pengujian dilakukan menggunakan robot Mecanum yang dilengkapi dengan encoder untuk memantau pergerakan robot dalam berbagai konfigurasi jalur. Hasil penelitian menunjukkan bahwa terdapat kesesuaian yang signifikan antara prediksi pergerakan dari simulasi kinematika dan hasil pergerakan robot yang sesungguhnya, dengan kesalahan yang dapat diterima pada kondisi pengujian yang bervariasi. Penelitian ini juga mengidentifikasi beberapa faktor yang memengaruhi ketepatan model kinematika, seperti gangguan pada roda dan ketidakakuratan dalam kontrol. Secara keseluruhan, penelitian ini membuktikan bahwa model kinematika yang dikembangkan dapat digunakan secara efektif untuk merancang sistem kontrol robot Mecanum dalam aplikasi nyata.

ABSTRACT

This study focuses on testing and comparing the kinematics model of the Mecanum robot through a MATLAB simulation approach and analyzing the movement of the robot experimentally. The Mecanum robot is known for its ability to move omnidirectionally, which allows flexible navigation in multiple directions without the need to rotate. To achieve the goal, the kinematics model of the Mecanum robot is first tested through MATLAB simulation, which provides a theoretical description of the robot's movement at various speeds and angles. Next, experimental testing was conducted to verify the simulation results with the real robot's movements. The tests were conducted using a Mecanum robot equipped with encoders to monitor the movement of the robot in various path configurations. The results showed that there was significant agreement between the movement predictions from the kinematics simulation and the actual robot movement results, with acceptable errors under varying test conditions. The study also identified several factors that affect the accuracy of the kinematics model, such as wheel interference and inaccuracies in control. Overall, this study proves that the developed kinematics model can be effectively used to design the control system of the Mecanum robot in real applications.

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