Implementasi Sensor FSR Pada Gripper Robot Omni Wheels Untuk Mengambil Barang

Abstract

The omni wheels robot is a robot used for the Indonesian Thematic Robot Contest. In this competition, robots compete quickly with opposing robots in placing Styrofoam boxes, but there is a speed limit. The limited movement speed of the robot requires the robot to retrieve Styrofoam box items as quickly as possible, by implementing the FSR sensor to set the setpoint on the gripper so that the appropriate clamp pressure is applied to the item so that the item does not fall or be damaged. The results of the FSR sensor reading will be used as a reference for ensure that the Styrofoam box items are within reach of the gripper gripper. The application of the parameter values ​​K_p = 0.1, K_i = 0.1 and K_d = 0.05 values ​​are obtained through calculations. This value is applied to the three tests of small, medium and large items with different setpoints of 10 grams, 20 grams and 30 grams. Of the three tests, the best Steady State Error value was 0.1% at a setpoint of 10 grams, a delay time of 4 seconds, a Rise time of 5.3 seconds, a Peak time of 6 seconds, a Max overshoot of 30%, and a Settling time of 10.2 seconds.