DEVELOPMENT AND EVALUATION OF TWO-PARALLEL CRAWLER ROBOT BY USING PROPORTIONAL CONTROLLER

Authors

  • Anuar Mohamed Kassim Graduate School of Advanced Technology and Science, Tokushima University, 2-1 Minami-Josanjima, Tokushima, Japan
  • Mohd Shahrieel Mohd Aras Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Ahmad Zaki Shukor Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Hazriq Izzuan Jaafar Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Mohd Zamzuri Ab Rashid Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Mohamad Faizal Baharom Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Fairul Azni Jafar Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia

DOI:

https://doi.org/10.11113/jt.v77.6549

Keywords:

Crawler robot, proportional controller, irregular terrain

Abstract

Nowadays, the crawler type robots are widely used in rescuing and inspection missions. However, most of the existing crawler type robots available now are not moving consistently in one direction. This project aim on design and develop a crawler type robot which can pass through several types of terrain as well as to analyze and evaluate the performance of developed crawler type robot in term of its accuracy and repeatability by using Proportional (P) controller. Moreover, the terrains involved in this project are focused only on flat surface and rough surface respectively. The experiments are conducted in two methods which are lab test and field test. Lab test is conducted on flat surface while field test is conducted on rough surface. Then, the performance (accuracy and repeatability) of both experiments will be measured. As the results, the experiments which have been conducted on both methods by using Proportional (P) controller are implemented successfully.

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Published

2015-12-01

How to Cite

Mohamed Kassim, A., Mohd Aras, M. S., Shukor, A. Z., Jaafar, H. I., Ab Rashid, M. Z., Baharom, M. F., & Jafar, F. A. (2015). DEVELOPMENT AND EVALUATION OF TWO-PARALLEL CRAWLER ROBOT BY USING PROPORTIONAL CONTROLLER. Jurnal Teknologi, 77(20). https://doi.org/10.11113/jt.v77.6549