DESIGN OF OMNI WHEEL ROBOT DYNAMIC SLIP CONTROL SYSTEM

• Main Author: Ni'am, Husnun
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/74467
• Institution: Institut Teknologi Bandung

A holonomic omni wheel robot is a robot that can move in any direction by using omnidirectional wheels that allow translational and rotational movements that enable high maneuverability in various environments. Modeling using kinematics assumes an ideal motor state without slip. It can cause errors in robot positioning. Therefore, a dynamic slip detection and control system is applied to reduce errors caused by wheel slip. In this final project, the robot is modeled with a kinematic system with an additional safety factor multiplied by the acceleration of the robot's global bingkai. Slip detection is done by measuring the error between the ground camera reading and the forward kinematic speed reading of each motor encoder. After that, the slip will be controlled with a slip control algorithm by applying a safety factor for the acceleration that occurs, so that the slip and error in the ground camera readings and encoder readings can be reduced. It has been tested that the robot is able to control the slip that occurs. By applying the control system, it has been tested that the robot is able to control the slip that occurs. The precision of the slip controller is evidenced by the RMSE value when slip control is applied to the V-Vn and V-Vn motion directions is smaller than the RMSE value when slip occurs. RMSE when slip occurs is 100.03 mm/s in lateral direction (Vn), 110.9 m/s in lateral-longitudinal direction (V-Vn), 100.89 mm/s in longitudinal direction (V). While the average RMSE results are 56.58 mm/s for direction (Vn), 57.07 mm/s for direction (V-Vn), and 52.98 mm/s for direction (V).