TANJUNG, GHALIB UHARZA (2016) COMPLEMENTARY FILTER PEMBACA NILAI SUDUT PADA KESEIMBANGAN ROBOT HUMANOID. Other thesis, POLITEKNIK NEGERI SRIWIJAYA.
Full text not available from this repository.Abstract
Humanoid robot resembles a human being with all the driving structure. While on the move or walk, it requires the balance to keep from falling, the module robot MPU6050 is an important component because it can provide a response to the angle reference X axis and reference Y axis, the angle reading still has a noise if it not filtered out beforehand. Complementary filters are the answer to reduce the noise. In this report described the design of the complementary filter is the output value of the accelerometer is fed to the low pass filter, and the output value of gyroscope that is integrated with the output of the previous angle fed to the high pass filter and then combined to obtain the angle is more stable, by setting the filter coefficients and the sampling time which affects the update angle signal. The angle value will be the value of the sensor to the process to the PID system which generates output values that are integrated with the servo pulses. In this report the authors got value for reading the most stable angle for this experiment is an a symbol or filter coefficient = 0.96 and dt or filter sampling time = 10 ms.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Complementary Filter , Humanoid, Accelerometer, Gyroscope, Modul MPU6050 |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Telecommunication Engineering > Undergraduate Theses |
| Depositing User: | Mrs Trisni Handayani |
| Date Deposited: | 08 Sep 2017 01:59 |
| Last Modified: | 08 Sep 2017 01:59 |
| URI: | http://eprints.polsri.ac.id/id/eprint/4020 |
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