Akselerasi Gerakan Maju Pada Robot Berkaki Empat Menggunakan Fuzzy Logic

Authors

  • Sopian Soim Program Studi Sarjana Terapan Teknik Elektro, Politeknik Negeri Sriwijaya Palembang, Indonesia
  • Amperawan Amperawan Program Studi Sarjana Terapan Teknik Elektro, Politeknik Negeri Sriwijaya Palembang, Indonesia
  • Masayu Anisah Program Studi Sarjana Terapan Teknik Elektro, Politeknik Negeri Sriwijaya Palembang, Indonesia
  • Novendra Farhan Program Studi Sarjana Terapan Teknik Elektro, Politeknik Negeri Sriwijaya Palembang, Indonesia

DOI:

https://doi.org/10.31851/ampere.v7i2.9503

Keywords:

Robot Berkaki Empat, logika fuzzy, Navigasi

Abstract

 

This study designed a quadruped robot using a servo motor make movements while navigating. The quadruped robot was designed by controlling 128 rules on the Arduino Mega for movement using the AX12 servo motor, the navigating was evaluated by measured distance reading with the SharpGP sensor and movement acceleration using fuzzy method. This study was aimed to produce a quadruped robot which can be able to navigate using fuzzy method. The parameters used in this study are fuzzification, inference and defuzzification. Based on the quadruped robots in navigating, the success rate of reading 6 infrared sensors in detecting existing objects which ranged from 98 to 100% with an error rate of 1.07%. The accuracy of the success rate of the robot's forward movement speed, backward movement, swipe right and swipe left were at  100%, 40% , 60% and 40% respectively


ABSTRAK

Pada penelitian ini merancang  sebuah Robot berkaki  empat mengunakan motor servo  dalam  melakukan gerakan saat bernavigasi.  Robot berkaki empat  dirancang dengan pengendalian 128 rule pada  Arduino Mega untuk  gerakan menggunakan motor servo AX12, pembacaan jarak dengan sensor  SharpGP dan  akselarasi  gerakan menggunakan  metode fuzzy dalam melakukan  navigasinya. Penelitian ini  bertujuan membuat  robot berkaki empat dapat melakukan navigasi  dengan metode fuzzy. Data yang diambil pada saat bernavigasi berupa data fuzzifikasi, inferensi dan  defuzzifikasi. Berdasarkan  penelitian robot berkaki empat dalam bernavigasi  didapat  tingkat keberhasilan dari pembacaan 6 buah sensor infrared dalam mendeteksi objek yang ada berkisar 98% - 100%   dengan tingkat error sebesar 1.07%., akurasi tingkat keberhasilan kecepatan gerakan maju robot 100% , gerakan mundur 40%, gerakan geser kanan 60% dan 40% gerakan geser kiri.


 

References

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Published

2022-12-30

How to Cite

Soim, S., Amperawan, A., Anisah, M., & Farhan, N. (2022). Akselerasi Gerakan Maju Pada Robot Berkaki Empat Menggunakan Fuzzy Logic. Jurnal Ampere, 7(2), 123–134. https://doi.org/10.31851/ampere.v7i2.9503

Issue

Vol. 7 No. 2 (2022): JURNAL AMPERE

Section

Articles

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