Implementation of PID Control in Active Ball Handling System of Middle Size Robot Soccer

Handling and dribbling ball are some of the basic techniques in the soccer game. Therefore, ball handling mechanism becomes a very important part in the middle size robot soccer. Implementation of active handling and dribbling system aims to maintain the robot keeping the ball in an ideal position when maneuvering. This research aims to create mechanical design and control of ball handling system. Thus, the robot can control the ball whilst moving dynamically. The dribbler system applied PID as a control method, by reading the angular data from the position sensor located on the dribbler's arms. The result of this control will enable the ball handling system to maintain the ideal position of the ball. Therefore, the robot can perform the ball handling process while doing translations and rotation movement as well.