Velocity Control System for Basketball Throwing Mechanism on the Barelang-V Robot

Abstract

The design of a control system for a basketball-shooting mechanism was conducted as part of the preparation for the 2025 ABU Asia-Pacific Robot Contest (ABU ROBOCON) with the theme “Basketball Robot.” This robot is designed to perform various tasks, one of which is shooting a ball into the hoop. To carry out this task, a reliable and stable control system is required to ensure that every shot hits the hoop accurately. Shooting the ball into the hoop was tested without a control system, but the results showed poor system performance. One motor tended to overshoot the target during testing, while the other motor did not fully reach the setpoint or consistently remained below it. This is evident from the steady-state error of Motor 1 (1.22%) and Motor 2 (-0.7%). The application of PID control combined with manual tuning in this case is one of the best methods for addressing system instability, and has proven effective, with a rise time of 1 second and a stabilization time of 1.4 seconds. Similarly, the steady-state error has been significantly reduced to 0.005% for Motor 1 and 0.095% for Motor 2. Overshoot was also observed at relatively low percentages: 0.94% for Motor 1 and 1.54% for Motor 2. This study demonstrates that the use of PID control with manual tuning increases the percentage of balls entering the ring.