Sistem kontrol robot tangan secara nirkabel berbasis mikrokontroler = wireless control system of robotic arm based on microcontroller

Kurniawan, Hansen (2018) Sistem kontrol robot tangan secara nirkabel berbasis mikrokontroler = wireless control system of robotic arm based on microcontroller. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

This experiment is held to create a robotic arm that able to mimic human arm gesture. This experiment is restricted to mimic human right forearm till right hand fingers. The robotic arm is controlled by a glove as a remote control. The glove is equipped with many sensors like flex sensors, gyroscope sensors, and accelerometer to produce input signal. After that, input signal will be processed by microcontroller (this experiment will use Arduino module) and will be sent using bluetooth. The signal will be received by microcontroller on the robotic arm receiver. Receiver microcontroller will process the input signal and produce output signal to actuate the actuator which are servo motors on the robotic arm. Range of wireless communication between the glove and the robot reaches 26 meters. The test results show that the robotic arm is capable of grasping objects such as styrofoam ball, small cardboard box, glass bottle, glue bottle and coin with response time between 0.23-1.86 milliseconds./ Penelitian ini dilakukan guna menciptakan robot tangan yang memiliki gestur layaknya tangan manusia. Untuk membatasi penelitian, maka penelitian ini hanya mengacu pada lengan bawah kanan hingga jari-jari tangan kanan manusia. Pengendalian robot tangan dilakukan dengan menggunakan sarung tangan sebagai pengendali secara nirkabel. Sarung tangan dilengkapi dengan sensor-sensor seperti flex sensor, sensor gyroscope dan accelerometer yang akan menghasilkan sinyal input. Sinyal input kemudian akan diolah oleh mikrokontroler (dalam penelitian ini digunakan modul Arduino) dan dikirim menggunakan Bluetooth. Sinyal kemudian diterima oleh mikrokontroler penerima yang berada pada robot tangan. Mikrokontroler penerima akan mengolah sinyal yang diterima dan menghasilkan sinyal output untuk menggerakan aktuator yakni motor servo pada robot tangan tersebut. Jarak jangkauan komunikasi nirkabel antara perangkat sarung tangan dengan robot tangan mencapai 26 meter. Hasil pengujian menunjukkan bahwa robot tangan mampu menggenggam beragam objek seperti bola styrofoam, kotak kardus kecil, botol kaca, botol lem dan uang logam dengan waktu respon antara 0,23-1,86 milidetik.

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