CONTROL OF SELF-BALANCING PLATFORM ON ALL TERRAIN ROVER ROBOT

• Main Author: Adu, Yunus
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56168
• Institution: Institut Teknologi Bandung

The high rate of transmission of nosocomial diseases is accompanied by the need to increase the efficiency of nurse performance in the midst of the threat of limited supply of nurses in the future, requiring a robotic solution to solve this problem. An all-terrain robot is needed to help improve logistics performance in hospitals. The robot that is made must be able to carry loads across various fields in the hospital safely. The part of the robot that answers these needs is a platform sub system with control design carried out using the basic concept of inverse kinematics with 3 degrees of freedom. The control of the self-balancing platform is carried out by applying a closed loop control system. In its implementation, the platform's subsystems can also be controlled in height through computers that are connected to each other using the MQTT communication protocol. The results of the implementation are tested both qualitatively and quantitatively to determine whether the sub-system has met the specified criteria. From the results of the tests carried out, the platform still has mechanical problems that cause the functionality of this sub-system to be incomplete. To validate the accuracy of the platform control algorithm that has been created, a simulation is run using the Webots application and the results are that the algorithm can run well and the payload carried by the robot is able to be kept balanced even though it travels on varied terrain. Thus, the sub-platform system requires future mechanical development to meet the needs of all-terrain rover robots.