Implementation of Swerve Drive for Straight Motion Movement Stability of Robots
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Date
2024-08-09
Authors
Dzikrullah, Qolbun Latief
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Politeknik Negeri Batam
Abstract
Wheeled robot technology is currently very developed, especially in the type of wheel drive, the models offered are very diverse depending on the function of use. Currently there are several types of wheels used in the movement of wheeled robots such as Differential Wheels, Omniwheels, Mechanumwheels are the most commonly used. In the application of wheel drive, different controls can be used, because the calculation of movement is very dependent on the model used. This research aims to evaluate the impact of the implementation of the Swerve Drive system on the stability of movement in wheeled robots. The implementation method involves a controller that utilizes position and angle sensors to regulate each wheel individually, allowing the robot to rotate or move omnidirectionally with high maneuverability. Field
experiments were conducted in several divisions, consisting of testing the steering motor by conducting experiments with direction inputs of 45 degree, 90 degree, 135 degree, 180 degree with each input conducted 3 times.with each input done 3 times with an average error value of 8.78%, and testing the movement of a straight robot is done with a goal distance of 5 meters in the direction of moving forward, left, backward, and right. So that the movement of the robot is assumed to be 4 times the movement with the final result that the robot can move straight according to the setpoint given with an error value of 49.23% but the further the distance the robot travels, the greater the value
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