Proceedings of the International Conference on Applied Science and Technology on Engineering Science 2023 (iCAST-ES 2023)

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Trajectory Tracking Control of Three Wheeled Omnidirectional Mobile Robot Using Proportional Controller

Authors
Pipit Anggraeni1, *, Nur Jamiludin Ramadhan1, Miftahul Huda1
1Department of Manufacturing Automation and Mechatronics Engineering, Bandung Polytechnic for Manufacturing, Bandung, Indonesia
*Corresponding author. Email: pipitanggraeni@polman-bandung.ac.id
Corresponding Author
Pipit Anggraeni
Available Online 17 February 2024.
DOI
10.2991/978-94-6463-364-1_51How to use a DOI?
Keywords
Educational Robot; Omnidirectional Mobile Robot; Robot Operating System; Root Locus; Trajectory Tracking
Abstract

Polebot is the educational robot developed by Bandung Polytechnic of Manufacturing which has a type of omnidirectional mobile robot with three Omni wheels assembled at an angle of 120 degrees. Stability of movement is one of the important things in robots. This study aims to make Polebot move according to the input trajectory that has been created. By entering the coordinates on the x and y axes that make up a trajectory, it can be seen what percentage of error is produced by the movement of the Polebot to conclude whether Proportional control is correctly used. The result of the trajectory tracking control carried out is that the Polebot can move on the sine trajectory with an average error on the X axis is 0.02% and on the Y axis 0.11%, on eight trajectories with an error on the X axis 0.06% (backslash percent) and the Y axis 0.02%, and on the circle trajectory with an error on the X axis 0.07% and the Y axis 0.02%. It can be concluded that the Proportional control on the Polebot is quite well implemented.

Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the International Conference on Applied Science and Technology on Engineering Science 2023 (iCAST-ES 2023)
Series
Advances in Engineering Research
Publication Date
17 February 2024
ISBN
10.2991/978-94-6463-364-1_51
ISSN
2352-5401
DOI
10.2991/978-94-6463-364-1_51How to use a DOI?
Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Pipit Anggraeni
AU  - Nur Jamiludin Ramadhan
AU  - Miftahul Huda
PY  - 2024
DA  - 2024/02/17
TI  - Trajectory Tracking Control of Three Wheeled Omnidirectional Mobile Robot Using Proportional Controller
BT  - Proceedings of the International Conference on Applied Science and Technology on Engineering Science 2023 (iCAST-ES 2023)
PB  - Atlantis Press
SP  - 548
EP  - 563
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-364-1_51
DO  - 10.2991/978-94-6463-364-1_51
ID  - Anggraeni2024
ER  -