Ring Thrower Control System for Elephant Robot on KRAI 2023

DOI

10.2991/978-94-6463-620-8_23How to use a DOI?

Keywords

ABU Robocon. Motor controls; PID; PWM

Abstract

Abu Robocon is an annual international robot competition that involves students from Asia-Pacific countries. For ABU robocon 2023 held in Cambodia with the theme “casting flowers over Angkor Wat” a robot that can throw a ring onto a pole. The Abu Robot Indonesia (KRAI) 2023 contest is a robot contest that can throw a ring onto a pole. In this study, we are looking for a stable motor speed so that the ring throw can enter the pole. Tests carried out are by using a system without control and also by using PID control. In addition, there are several parameters used such as the distance from the robot to the pole, the height of the pole and the height of the thrower. For the ring thrower itself using a brushless motor which then the motor speed will be transmitted using a gear and the results of ring throwing tests using a motor are obtained. In the first test without using the control system, the values of Rise Time = 2.3 s and Settling Time = 2.8 s are still too long to reach the setpoint so that the ring needs time to be thrown. In addition, the thrown ring also affects the Steady State Error graph where the Steady State Error = 2.46% increases to 12.15% when the ring starts to be thrown. Then testing the system with PID control obtained the calculation value of Rise time, Settling time, Oveshoot, Error Steady State results from manual tuning when the ring is thrown is good with the value of Rise time = 0.9 s and Settling time = 1.3 s. so that the ring can be thrown earlier. In addition, the thrown ring also affects the Steady State Error graph where the Steady State Error = 2.46% increases to 12.15% when the ring starts to be thrown.

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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TY  - CONF
AU  - Lancester SyahPutra
AU  - Rifqi Amalya Fatekha
AU  - Deni Parendra Sitinjak
AU  - Adli Samudera Alfaresi
PY  - 2024
DA  - 2024/12/25
TI  - Ring Thrower Control System for Elephant Robot on KRAI 2023
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 299
EP  - 311
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_23
DO  - 10.2991/978-94-6463-620-8_23
ID  - SyahPutra2024
ER  -