PERENCANAAN BALANCING ROBOT DENGAN DUA RODA

The concept of balancing two-wheeled robot based on inverted pendulum theory. A suitable control system is needed to control the system so balanced and stable. The main objective of this project is to use strategies to maintain good control of the robot in an upright condition. The problems that arise in balancing the robot is how to maintain the upright condition of 90 °. In this final project, the problems in balancing robot controller solved by applying the algorithm one tuning PID control with constant value. On testing the entire system of control response constant value of Kp = 37 Ki = 0 Kd = 3 on the surface of the wood and tile very well maintain an upright position for six seconds with an error -3 and 2. From this final project can be concluded that the addition of PID control can cause balancing robot system more stable and real time. Keyword: Inverted Pendulum, Control PID, Sharp GP2D120, Balancing Robo