Pemodelan Mekanisme Docking Smart Warehouse Robot Menggunakan Sistem Kontrol Penjejakan Lintasan dan Stabilisasi Titik

Authors

  • Prasetyo Wibowo Laksono Sanjaya Institut Teknologi Bandung
  • Annisa Zulfa Hidayah Institut Teknologi Bandung
  • Augie Widyotriatmo Institut Teknologi Bandung

Abstract

Pada makalah ini dilakukan pemodelan mekanisme docking sebuah robot beroda untuk aplikasi
pengisian daya pada robot smart warehouse. Diasumsikan terdapat dua belas lokasi docking dengan
tujuan postur akhir robot yang siap keluar dari tempat docking. Diusulkan sistem pengontrolan
pergerakan robot menggunakan penjejakan lintasan dalam tiga segmen piecewise yang dibangkitkan
dengan polinomial orde tiga dilanjutkan dengan stabilisasi titik. Dilakukan pula pengontrolan
penggerakan roda kanan-kiri robot untuk mencapai pergerakan yang diinginkan menggunakan pengontrol
PI (Proportional-Integral Controller). Diperoleh hasil simulasi pengontrolan yang stabil dari berbagai
postur robot awal menuju berbagai lokasi docking yang telah didefinisikan.
Kata Kunci: robot smart warehouse, penjejakan lintasan, stabilisasi titik, kontrol mekanisme docking.

Author Biographies

Prasetyo Wibowo Laksono Sanjaya, Institut Teknologi Bandung

Program Studi Teknik Fisika, Fakultas Teknologi Industri

Annisa Zulfa Hidayah, Institut Teknologi Bandung

Program Studi Teknik Fisika, Fakultas Teknologi Industri

Augie Widyotriatmo, Institut Teknologi Bandung

Kelompok Keahlian Instrumentasi & Kontrol, Fakultas Teknologi Industri, ITB, Bandung, 40132

References

Singh, B., Sellappan, N., & Kumaradhas, P., Evolution of Industrial Robots and their

Applications. International Journal of Emerging Technology and Advanced Engineering,

(5), 763-768, 2013.

Kamali, A., Smart Warehouse vs. Traditional Warehouse - Review. International Journal

of Automation and Autonomous System, 11(1), 9-16, 2019.

Bhasin, K., Clark, P. (2016, June 29), How Amazon Triggered a Robot Arms Race.

https://www.bloomberg.com/news/articles/2016-06-29/how-amazon-triggered-a-robotarms-

race , Retreived May 23, 2019.

Tampubolon, M., Pamungkas, L., Chiu, H,-J., & Hsieh, Y.-C., Dynamic Wireless Power

Transfer for Logistic Robots. Energies, 11(3), 527. DOI:10.3390/en11030527, 2018.

Spong, M. W., Hutchinson, S., & Vidyasagar, M., Robot modelling and control (1st ed.).

John Wiley & Sons, 2005.

Widyotriatmo, A. Dasar-dasar Mekatronika dan Robotika. Bandung, Jawa Barat: ITB

Press, 2018

Niku, S. B., Introduction to robotics: Analysis, control, applications (2nd ed.). John Wiley

& Sons, 2011.

Aicardi, M., Casalino, G., Bicchi, A., & Balestrino, A. Closed loop steering of unicycle

like vehicles via Lyapunov techniques. IEEE Robotics and Automation Magazine, 2(1),

-35, March 1995.

Downloads

Published

2019-10-24

Issue

Vol. 2 No. 1 (2019)

Section

Articles

License

License and Copyright Agreement

In submitting the manuscript to the journal, the authors certify that:

  • They are authorized by their co-authors to enter into these arrangements.
  • The work described has not been formally published before, except in the form of an abstract or as part of a published lecture, review, thesis, or overlay journal.
  • That it is not under consideration for publication elsewhere,
  • That its publication has been approved by all the author(s) and by the responsible authorities tacitly or explicitly of the institutes where the work has been carried out.
  • They secure the right to reproduce any material that has already been published or copyrighted elsewhere.
  • They agree to the following license and copyright agreement.