| One of the primary component which makes up a humanoid robot is servo motor, because of its large torsion and good angular position accuracy. In Indonesia, there is no local servo motor producer that supports humanoid robot production. Other problem arises because of the process needed to build a servo motor is unknown. In this book, PID combined with fuzzy logic is used as self-tuning position control to realizise a servo motor prototype. The prototype consists of a DC motor, a sensor and also a microcontroller. The fuzzy logic used consist of 2 fuzzy set inputs (error and delta error) and 3 fuzzy set outputs (Kp, Ki, Kd). Then, these parameters are used by the PID control, with an angular position feedback provided by an absolute magnetic encoder with 14-bit resolution. To realize the output of the PID control, a linear regulator is ised instead of PWM signal because the DC motor used does not fully support PWM usage. Based on the design and experiments, an 80 grams DC Servo Motor prototype is produced, with dimension as follows: length: 65 mm; width: 46,43 mm; height: 55 mm, with 0,02o resolution and ±0,5o accuracy. Based on experiment, the best position control system in this book is fuzzy logic PID with fuzzy sets as follows: Kp: 0-5; Ki: 0-0,6; Kd: 0-0,6. |