Pengembangan Robot Tematik Digital Twin Universitas Negeri Jakarta pada Motor dan Roda Sebagai Manuver
DOI:
https://doi.org/10.21009/JEVET.0081.04Keywords:
mecanum wheel, motor encoder, robotAbstract
Abstrak
Penelitian ini memiliki tujuan untuk perancangan dan pengujian robot dengan fokus pada peningkatan stabilitas pergerakan, penyederhanaan kontrol, serta pengurangan jumlah motor penggerak. Selain itu, penelitian ini juga mengevaluasi perbedaan kinerja antara motor DC biasa dan motor encoder dengan kontrol PID untuk menentukan solusi yang lebih efisien dan optimal. Dengan demikian penulis membuat pengembangan pada motor dan roda robot menggunakan tiga buah roda omniwheel dengan asumsi koin tidak akan menyentuh lantai dan robot stabil tidak akan menyentuh robot lawan. Metode pengembangan yang digunakan adalah Research and Development (R&D) dengan pendekatan ADDIE meliputi analisis, desain, pengembangan, implementasi dan evaluasi pada robot. Hasil yang diperoleh pada pengujian yaitu untuk kecepatan, motor encoder unggul dengan 0,72 detik lebih cepat data dapat dilihat pada tabel 4.18. Pada pengujian kestabilan motor encoder unggul lebih stabil dengan grafik berada pada rentang 7000 – 10.000 pulse sinyal digital sedangkan motor DC berada pada 16.000 – 20.000 pulse sinyal digital data dapat dilihat pada tabel 4.9. Pada pengujian manuver motor encoder unggul 13,4 detik lebih cepat dari motor DC data dapat dilihat pada tabel 4.19. Kesimpulan bedasarkan hasil pengujian menunjukan bahwa robot yang dikembangkan pada motor dan roda memiliki hasil yang lebih unggul dalam kestabilan pada semua pengujian.
Abstract
This study aims to design and test robots with a focus on increasing movement stability, simplifying control, and reducing the number of drive motors. In addition, this study also evaluates the performance differences between ordinary DC motors and encoder motors with PID control to determine a more efficient and optimal solution. Thus, the author made developments on robot motors and wheels using three omniwheel wheels with the assumption that coins will not touch the floor and stable robots will not touch opposing robots. The development method used is Research and Development (R&D) with the ADDIE approach including analysis, design, development, implementation and evaluation on robots. The results obtained in the test are for speed, the encoder motor is superior with 0.72 seconds faster data can be seen in table 4.18. In the stability test, the encoder motor is superior and more stable with a graph in the range of 7000 - 10,000 digital signal pulses while the DC motor is at 16,000 - 20,000 digital signal pulses data can be seen in table 4.9. In the test of encoder motor maneuvers, it is 13.4 seconds faster than the DC motor, the data can be seen in table 4.19. The conclusion based on the test results shows that the robot developed on the motor and wheels has better results in stability in all tests.
References
Bilancia, P., Locatelli, A., Tutarini, A., Mucciarini, M., Iori, M., & Pellicciari, M. (2024). Online motion accuracy compensation of industrial servomechanisms using machine learning approaches. Robotics and Computer-Integrated Manufacturing, 91, 102838–102838. https://doi.org/10.1016/j.rcim.2024.102838
Ceccarelli, M. (2024). Challenges in service robot devices for elderly motion assistance. Robotica, 42(12), 4186–4199. https://doi.org/10.1017/s0263574724001528
Chen, W., Choi, T.-M., Dolgui, A., Ivanov, D., & Pesch, E. (2025). Digital manufacturing and supply chain: creating benefits through operations research and artificial intelligence. Annals of Operations Research. https://doi.org/10.1007/s10479-024-06450-2
Hu, B., Cheng, D., Fu, Y., Song, X., Bi, Y., Zhao, Q., & Tan, J. (2024). An equipment-level digital twin method for industrial robots for machining. International Journal of Production Research, 1–19. https://doi.org/10.1080/00207543.2024.2446953
Huang, Y.-H., Zhao, Q.-Y., Hao, H., Liu, N.-T., Liu, Z., Deng, J., Yang, F., Ru, S.-Y., Tu, X.-C., Zhang, L.-B., Jia, X.-Q., Chen, J., Kang, L., & Wu, P.-H. (2024). Monolithic integrated superconducting nanowire digital encoder. Applied Physics Letters, 124(19). https://doi.org/10.1063/5.0202827
Hwang, J.-S., Chae, M.-S., & Choi, H.-G. (2024). Sensor-Less Drive of Ultra-Low Inductance SPMSM With DC-Link Single Current Sensor. IEEE Access, 12, 78959–78968. https://doi.org/10.1109/access.2024.3405401
Lee, Y., Baek, M.-S., & Yoon, K. (2025). Digital Entity Management Methodology for Digital Twin Implementation: Concept, Definition, and Examples. IEEE Transactions on Broadcasting, 1–11. https://doi.org/10.1109/tbc.2024.3517138
Lu, Z., Luo, Y., Penčić, M., Oros, D., Čavić, M., Đukić, V., Krasnik, R., Mikov, A., & Orošnjak, M. (2024). Development of a Virtual Robot Rehabilitation Training System for Children with Cerebral Palsy: An Observational Study. Sensors, 24(24), 8138–8138. https://doi.org/10.3390/s24248138
Qi, H., Li, X., Ding, L., Cheng, Q., Gao, H., Terze, Z., & Deng, Z. (2024). Enhancing Maneuverability in a Variable Wheelbase Wheeled Mobile Robot Through Dynamic Steering Curvature Control. Journal of Field Robotics. https://doi.org/10.1002/rob.22437
Sano, S., Tadakuma, K., Kayawake, R., Watanabe, M., Abe, K., Kemmotsu, Y., & Tadokoro, S. (2025). Poloidal Drive: Direct-Drive Transmission Mechanism for Active Omni-Wheels with Spoke Interference Avoidance. IEEE Robotics and Automation Letters, 1–8. https://doi.org/10.1109/lra.2024.3524885
Sovukluk, S., Englsberger, J., & Ott, C. (2023). Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. IEEE Robotics and Automation Letters, 9(2), 1131–1138. https://doi.org/10.1109/lra.2023.3342668
Torchio, R., Conte, F., Scarpa, M., Filippini, M., Pase, F., Toso, F., Nasab, P. S., Marson, E., Viroli, A., Posa, P., & Zangoli, M. (2025). Digital Twins in Power Electronics: A Comprehensive Approach to Enhance Virtual Thermal Sensing. IEEE Transactions on Power Electronics, 1–11. https://doi.org/10.1109/tpel.2025.3531695
Won, J., & Iwase, M. (2024). Highly Responsive Robotic Prosthetic Hand Control Considering Electrodynamic Delay. Sensors, 25(1), 113. https://doi.org/10.3390/s25010113
Yang, L., Constantinescu, D., & Wu, L. (2025). Passivity-Based Connectivity Maintenance of Teleoperated Multi-Robots Under DoS Attacks. IEEE Transactions on Automation Science and Engineering, 1–10. https://doi.org/10.1109/tase.2024.3524358
Yin, R., Wu, Z., & Feng, L. (2025). Pulse width modulation control of Mecanum-wheeled mobile robot with random noise. IEEE Access, 1–1. https://doi.org/10.1109/access.2025.3530405
