Justiadi, Jumaddil Hair, Yusdianto
Sari
Penelitian ini bertujuan untuk membuat rancang bangun Automated Guided Vehicle (AGV)menggunakan roda omni-directional. Sistem AGV dipandu oleh path guidance dalam bernavigasi. Penelitian ini bersifat kuantitatif. Roda omni-directional tipe mecanum dipasang 4 buah pada AGV. Masing-masing roda dikendalikan oleh motor DC sehingga AGV mampu bergerak ke segala arah secara independent. Sistem path guidance menggunakan sensor garis yang membaca garis putih untuk memandu AGV dalam melakukan proses tools handling dari satu stasiun ke stasiun yang lain. Kendali PID Adaptif terinterpolasi (Interpolated Adaptive PID) digunakan untuk menjaga kestabilan AGV mengikuti garis. Kendali PID ini adaptif karena nilai konstanta PID dipengaruhi oleh besarnya setpoint kecepatan AGV. Fungsi stasiunadalah sebagai tempat menyimpan dan mengambil toolbox.Hasil penelitian menunjukkan bahwa penggunaan 4 roda mecanum dapat diterapkan pada AGV dalam melakukan tools handling. Kendali PID Adaptif terinterpolasi efektif digunakan untuk memandu AGV mengikuti garis dengan kecepatan (0.5 – 1.8) m/s.
Kata Kunci
AGV, mecanum, PID Adaptif terinterpolasi
Teks Lengkap
Referensi
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