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DAFTAR ISI
HALAMAN PENGESAHAN ..................................................................................................... i PERNYATAAN ...................................................................................................................... ii HALAMAN PERSEMBAHAN ................................................................................................ iii KATA PENGANTAR...............................................................................................................iv DAFTAR ISI...........................................................................................................................vi DAFTAR TABEL ....................................................................................................................ix DAFTAR GAMBAR................................................................................................................ x DAFTAR LISTING PROGRAM .............................................................................................. xiv DAFTAR SINGKATAN .......................................................................................................... xv Intisari ............................................................................................................................... xvi Abstract ............................................................................................................................ xvii BAB I .............................................................................................................................. - 1 PENDAHULUAN .......................................................................................................... - 1 1.1.
Latar Belakang ................................................................................................ - 1 -
1.2.
Perumusan Masalah ........................................................................................ - 3 -
1.3.
Maksud dan Tujuan Penelitian ........................................................................ - 3 -
1.4.
Batasan Masalah ............................................................................................. - 4 -
1.5.
Metode Penyelesaian Masalah ........................................................................ - 4 -
1.6.
Sistematika Penulisan ..................................................................................... - 5 -
BAB II............................................................................................................................. - 7 -
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DASAR TEORI .............................................................................................................. - 7 2.1. Kinematika ........................................................................................................... - 7 2.2. Autokorelasi Deret Waktu ................................................................................... - 8 2.3. Motor Servo Dynamixel AX-12 ........................................................................ - 10 2.4. Mikrokontroller CM530 ..................................................................................... - 13 2.5. Gyroscope Robotis ............................................................................................. - 14 2.6. Havimo Camera ................................................................................................. - 17 BAB III ......................................................................................................................... - 24 METODE PENELITIAN .............................................................................................. - 24 3.1. Desain Mekanik ................................................................................................. - 24 -
3.1.1. Posisi robot terhadap Bidang ........................................................... - 25 3.1.2. Ilustrasi Sudut Motion Kaki Robot .................................................. - 27 3.2. Sumber Data....................................................................................................... - 39 -
3.2.1. Gyroscope ........................................................................................ - 39 3.2.2. Havimo............................................................................................. - 42 3.2.3. Pengukuran tegangan, dan suhu servo ............................................. - 44 3.3. Analisis Data ...................................................................................................... - 45 3.4. Alat yang Digunakan ......................................................................................... - 46 3.5. Waktu dan Tempat Penelitian ............................................................................ - 47 3.6. Diagram Alir Penelitian ..................................................................................... - 48 BAB IV ....................................................................................................................... - 49 HASIL DAN PEMBAHASAN..................................................................................... - 49 4.1. Analisis Keseimbangan Saat Diam (Statis) ....................................................... - 49 4.2. Analisis Step Motion Saat Bergerak (Dinamis) ................................................. - 59 4.3. Analisis Keseimbangan Gerak ........................................................................... - 71 -
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4.4. Analisis Pendeteksian Warna ............................................................................. - 74 4.5. Analisis Kecepatan Gerak terhadap Bidang ....................................................... - 83 -
4.5.1. Kecepatan Maju ............................................................................... - 83 4.5.2. Kecepatan Geser .............................................................................. - 84 4.5.3. Kecepatan Rotasi ............................................................................. - 85 4.6. Analisis Tegangan .............................................................................................. - 87 4.7. Analisis Suhu ..................................................................................................... - 88 BAB V .......................................................................................................................... - 90 KESIMPULAN DAN SARAN..................................................................................... - 90 5.1. Kesimpulan ........................................................................................................ - 90 5.2. Saran .................................................................................................................. - 91 DAFTAR PUSTAKA ................................................................................................... - 92 LAMPIRAN.................................................................................................................. - 93 -
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DAFTAR TABEL Tabel 2.1. Spesifikasi utama Servo AX-12 ................................................. 12 Tabel 2.2. Data kemampuan gyroscope robotis .......................................... 16 Tabel 3.1. Macam instruksi pada Havimo .................................................. 43 Tabel 4.2. Hasil pengujian sensor gyroscope .............................................. 50 Tabel 4.3. Step langkah awal....................................................................... 54 Tabel 4.4 Step perpindahan kaki kanan....................................................... 64 Tabel 4.5. Step perpindahan kaki kiri.......................................................... 66 Tabel 4.6. Step langkah akhir ...................................................................... 68 Tabel 4.7. Format Metode Region Growing ............................................... 77 Tabel 4.8. Kecepatan maju robot 56 step .................................................... 84 Tabel 4.9. Kecepatan maju robot 24 step .................................................... 84 Tabel 4.10. Kecepatan Geser robot 56 step................................................. 85 Tabel 4.11. Kecepatan Geser robot 24 step................................................. 85 Tabel 4.12. Kecepatan rotasi robot 56 step ................................................. 86 Tabel 4.13. Kecepatan rotasi robot 24 step ................................................. 86
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DAFTAR GAMBAR Gambar 2.1. Step Inverse Prediction Model ................................................ 7 Gambar 2.2. Contoh Sinyal Periodis ............................................................. 8 Gambar 2.3. Gambar cuplikan auto-korelasi terhadap lag............................ 9 Gambar 2.4. Putaran Servo Ax-12 ................................................................ 13 Gambar 2.5. Sistem Utama CM-530 ............................................................. 14 Gambar 2.6. Gyroscope robotis ................................................................... 15 Gambar 2.7. Paket Perintah dan Respon dalam ROBOTIS .......................... 19 Gambar 2.8. Hasil dari algoritma Region Growing ..................................... 21 Gambar 2.9. Hasil Blok data citra 768 byte ................................................. 22 Gambar 2.10. Tampilan warna tertentu yang dideteksi kamera Havimo ...... 23 Gambar 3.1 Susunan servo AX-12 robot humanoid .................................... 24 Gambar 3.2. Desain Mekanik robot humanoid 20 DOF .............................. 25 Gambar 3.3. Posisi robot terhadap bidang x dan y ....................................... 26 Gambar 3.4. Posisi robot saat berubah terhadap sudut Ψ ............................. 25 Gambar 3.5 Sudut roll, pitch, yaw ................................................................ 27 Gambar 3.6. Kaki robot dari sisi depan ....................................................... 28 Gambar 3.7. Posisi roll saat COM berpindah ............................................... 29 Gambar 3.8. Posisi roll saat angkat kaki kiri ................................................ 30 Gambar 3.9. Posisi roll saat letakkan kaki kiri ............................................. 31 Gambar 3.10. Posisi roll COM robot kembali ke titik 0 ............................... 32 Gambar 3.11. Kaki robot dari sisi samping .................................................. 33 Gambar 3.12. Posisi pitch COM berpindah .................................................. 34 x
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Gambar 3.13. Posisi pitch saat angkat kaki................................................... 35 Gambar 3.14. Posisi pitch saat letakkan kaki ............................................... 36 Gambar 3.15. Posisi pitch COM kembali ke posisi 0 ................................... 37 Gambar 3.16 Letak servo 7 dan servo 8 pada robot ..................................... 38 Gambar 3.17. Close loop diagram sistem robot saat posisi siaga ................. 39 Gambar 3.18. Simpangan Posisi Siaga ......................................................... 40 Gambar 3.19. Blok diagram sudut kepala robot ........................................... 42 Gambar 3.20. Software Havimo GUI ........................................................... 44 Gambar 3.21. Posisi servo yang diamati ...................................................... 45 Gambar 3.22 Diagram Alir Penelitian .......................................................... 48 Gambar 4.1. Posisi Siaga Robot dilihat dari a. sumbu x ............................................................................................... 49 b. sumbu y ............................................................................................... 49 c. sumbu z ................................................................................................ 49 Gambar 4.2. Data roll terhadap T tanpa gyro ............................................... 55 Gambar 4.3. Data pitch terhadap T tanpa gyro ............................................. 55 Gambar 4.4. Cuplikan cross-korelasi terhadap lag tanpa gyro ..................... 56 Gambar 4.5. Data roll terhadap T dengan gyro ............................................ 57 Gambar 4.6. Data pitch terhadap T dengan gyro .......................................... 57 Gambar 4.7. Cuplikan cross-korelasi terhadap lag dengan gyro .................. 58 Gambar 4.8. Flowchart jalan lurus ................................................................ 59 Gambar 4.9. Posisi kaki robot saat siaga ...................................................... 60 Gambar 4.10. xi
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a. Pindah titik berat ke kanan/kiri ........................................................... 62 b. Angkat kaki kiri/kanan ........................................................................ 62 c. Letakkan kaki kiri/kanan ...................................................................... 62 d. Pindah titik berak ke titik nol (normal) ................................................ 62 Gambar 4.11. Sudut servo roll saat langkah awal ........................................ 62 Gambar 4.12. Sudut servo pitch saat langkah awal ...................................... 63 Gambar 4.13. a. Pindah titik berat ke kiri/kanan ........................................................... 64 b. Angkat kaki kanan/kiri ........................................................................ 64 c. Letakkan kaki kanan/kiri ..................................................................... 64 d. Pindah titik berak ke titik nol (normal) ................................................ 64 Gambar 4.14. Sudut servo roll saat langkah kaki kanan .............................. 65 Gambar 4.15. Sudut servo pitch saat langkah kaki kanan ............................ 65 Gambar 4.16. a. Pindah titik berat ke kanan/kiri ........................................................... 66 b. Angkat kaki kiri/kanan ........................................................................ 66 c. Letakkan kaki kiri/kanan ..................................................................... 66 d. Pindah titik berak ke titik nol (normal) ................................................ 66 Gambar 4.17. Sudut servo roll saat langkah kaki kiri .................................. 67 Gambar 4.18. Sudut servo pitch saat langkah kaki kiri ................................ 68 Gambar 4.19. a. Pindah titik berat ke kiri/kanan ............................................................ 69 b. Angkat kaki kanan/kiri ......................................................................... 69 xii
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c. Letakkan kaki kanan/kiri sejajar........................................................... 69 d. Pindah titik berak ke titik nol (normal) ................................................ 69 Gambar 4.20. Sudut servo roll saat langkah akhir ........................................ 70 Gambar 4.21. Sudut servo pitch saat langkah akhir ...................................... 70 Gambar 4.22. Data pitch saat robot berjalan ................................................. 71 Gambar 4.23. Grafik auto-korelasi data pitch saat robot berjalan lurus ....... 72 Gambar 4.24 Grafik data servo 11 dan 12 .................................................... 73 Gambar 4.25 Grafik data servo 15 dan 16 .................................................... 73 Gambar 4.26 Grafik data servo 13 dan 14 .................................................... 74 Gambar 4.27 Look-Up Table (LUT) pada proses kalibrasi warna ............... 75 Gambar 4.28. Hasil cuplikan metode region growing .................................. 78 Gambar 4.29. Sebaran data warna jingga...................................................... 78 Gambar 4.30. Posisi centroid warna jingga .................................................. 79 Gambar 4.31. Flowchart Pantilt .................................................................... 80 Gambar 4.32. Diagram keadaan robot .......................................................... 82 Gambar 4.33. Page parameter ....................................................................... 83 Gambar 4.34. a. Tegangan robot 56 step ......................................................................... 87 b. Tegangan robot 24 step ......................................................................... 87 Gambar 4.35. a. Suhu servo lutut 56 step ...................................................................... 88 b. Suhu servo lutut 24 step ....................................................................... 8
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DAFTAR LISTING PROGRAM
Listing Program 4.1. ...................................................................................... 52 Listing Program 4.2. ...................................................................................... 52 Listing Program 4.3. ...................................................................................... 53 Listing Program 4.4. ...................................................................................... 76 Listing Program 4.5. ...................................................................................... 76
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DAFTAR SINGKATAN
A ACF Auto Correlation Function C COM Center of Mass CWS Contact Wrench Sum D DOF Degree of Freedom G GAT Geometrical Analysis Technique Z ZMP Zero Moment Point
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