Jurusan Teknik Elektro

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Transformasi Sistem Koordinat Lokal dan Global Pada Robot Mecanum Wheels
(Politeknik Negeri Batam, 2018-07-20) Sholeh, Muhammad Syaifudin; Soebhakti, Hendawan
Mobile Robot consisting of four wheels Mecanum Wheel Drive can move by translating and rotating to the desired direction by using kinematic inverse equation. But the kinematic inverse equation is one of the things that still coordinate local as a reference for its movement. Robot movement still can not be used to achieve the goal because it coordinates the robot is always dynamic or follow where the direction of the robot moves. So in this research will be used method that can access local coordinate become global coordinate robot with coordinate transformation. The expected result of this research is the movement of robot and can move in the form of visualization. From the research that has been done the robot can move in accordance with the direction of the instructed when the output motor speed that has been described kinematik inverse does not exceed the maximum speed limit of the motor used. The maximum speed of motor used is 124 rpm. The error occurs because the system is still open loop