DAFTAR ISI
Lembar Pengesahan .......................................................................... i Surat Pernyataan .............................................................................. ii Abstrak .............................................................................................. iii Abstract .............................................................................................. iv Kata Pengantar ................................................................................. v Daftar Isi ........................................................................................... vii Daftar Tabel ...................................................................................... xiv Daftar Gambar .................................................................................. xvi Daftar Lampiran ............................................................................... xxi Bab I Pendahuluan ........................................................................... I - 1 1.1 Latar Belakang Masalah ................................................................ I - 1 1.2 Identifikasi Masalah ...................................................................... I - 3 1.3 Rumusan Masalah ......................................................................... I - 3 1.4 Tujuan Kegiatan ............................................................................ I - 3 1.5 Batasan Masalah ........................................................................... I - 4 1.6 Metodologi .................................................................................... I - 4 1.7 Sistematika Penulisan .................................................................... I - 6 Bab II Landasan Pustaka ................................................................. II - 1 2.1 Robot ............................................................................................ II - 1 2.2 Mobile Robot ................................................................................ II - 2 2.3 Penggunaan Roda untuk Mobile Robot .......................................... II - 2
vii
2.3.1 Penggunaan Roda Standar .......................................................... II - 3 2.3.2 Penggunaan Roda Universal Caster ........................................... II - 3 2.3.3 Penggunaan Roda Omni Caster .................................................. II - 4 2.3.4 Penggunaan Roda Tank Treaded (Caterpilar) ............................. II - 4 2.4 Android ......................................................................................... II - 5 2.4.1 Sejarah Android .......................................................................... II - 6 2.4.2 Versi Android ............................................................................. II - 7 2.5 Arduino ......................................................................................... II - 8 2.5.1 Arduino Duemilanove ................................................................. II - 9 2.5.2 Power Supply untuk Arduino Duemilanove ................................ II - 9 2.5.3 Input – Output Arduino Duemilanove ......................................... II - 10 2.5.4 Komunikasi Serial pada Arduino Duemilanove ........................... II - 11 2.6 DFRobot Mega 2560 ..................................................................... II - 11 2.6.1 Power Supply untuk DFRobot Mega 2560 ADK ........................ II - 11 2.6.2 Spesifikasi DFRobot Mega 2560 ADK ....................................... II - 12 2.6.3 Input – Output pada DFRobot Mega 2560 ADK ......................... II - 12 2.7 XBee ............................................................................................. II - 14 2.7.1 Seri dari Perangkat XBee ............................................................ II - 14 2.7.2 Setting XBee Series 2 .................................................................. II - 15 2.7.2.1 Setting XBee sebagai Coordiantor ........................................... II - 15 2.7.2.2 Setting XBee sebagai Router .................................................... II - 20 2.7.2.3 Pengecekan Hasil Setting XBee Router dan Coordinator ......... II - 21
viii
2.8 Arduino SDK ................................................................................. II - 22 2.9 IC Motor Driver ............................................................................ II - 23 2.10 ISIS Proteus 7 .............................................................................. II - 24 2.11 Eclipse IDE ................................................................................. II - 25 2.12 UML (Unified Modelling Language) ............................................ II - 26 2.12.1 Use Case Diagram ................................................................... II - 26 2.12.2 Class Diagram ......................................................................... II - 26 2.12.3 Activity Diagram ...................................................................... II - 27 2.12.4 Sequene Diagram ..................................................................... II - 27 2.12.5 Collaboration Diagram ............................................................ II - 27 2.12.6 Deployment Diagram ............................................................... II – 27 2.13 Tethering WIFI ........................................................................... II - 27 Bab III Prototype Awal ...................................................................... III - 1 3.1 Pengumpulan Kebutuhan ............................................................... III - 1 3.1.1 Minat Masyarakat Terhadap Mobile Robot ................................. III - 1 3.1.2 Sistem Navigasi pada Mobile Robot ........................................... III - 3 3.1.3 Alat Gerak pada Mobile Robot ................................................... III - 4 3.1.4 Aplikasi Smartphone sebagai Pengendali Gerak Mobile Robot ... III - 5 3.1.5 Pemanfaatan Teknologi Wireless untuk Pengendali Jarak Jauh ... III - 6 3.2 Pemodelan Sistem yang Ada ......................................................... III - 7 3.3 Pembangunan Mobile Robot Protoype Pertama ............................. III - 10 3.3.1 Pemodelan Sistem untuk Prototype Pertama ............................... III - 10
ix
3.3.1.1 Use Case Diagram Prototype Pertama ..................................... III - 11 3.3.1.2 Activity Digram Prototype Pertama ......................................... III - 13 3.3.2 Mekanika ................................................................................... III - 15 3.3.3 Kelistrikan .................................................................................. III - 17 3.3.3.1 Motor Driver untuk Modul Roda ............................................. III - 17 3.3.3.2 Microcontroller untuk Mobile Robot ........................................ III - 19 3.3.4 Perangkat Lunak ........................................................................ III - 20 3.3.4.1 Perangkat Lunak untuk Mobile Robot ...................................... III - 20 3.3.4.2 Perangkat Lunak untuk PC ...................................................... III - 21 3.3.5 Pengiriman Instruksi untuk Mobile Robot Prototype Pertama ..... III - 22 3.3.6 Pengujian Prototype Pertama ...................................................... III - 24 3.4 Pembangunan Mobile Robot Prototype Kedua ............................... III - 25 3.4.1 Pemodelan Sistem untuk Prototype Kedua ................................. III - 26 3.4.2 Mekanika ................................................................................... III - 27 3.4.3 Kelistrikan .................................................................................. III - 28 3.4.4 Perangkat Lunak ........................................................................ III - 29 3.4.5 Pegiriman Instruksi untuk Mobile Robot Prototype Kedua .......... III - 32 3.4.6 Pengujian Prototype Kedua ........................................................ III - 33 Bab IV Perancangan Prototype Akhir .............................................. IV - 1 4.1 Gambaran Umum Sistem .............................................................. IV - 1 4.2 Pemodelan Sistem Prototype Akhir ............................................... IV - 2 4.2.1 Use Case Diagram ..................................................................... IV - 3
x
4.2.2 Definisi Use Case ....................................................................... IV - 4 4.2.3 Skenario Use Case ..................................................................... IV - 5 4.2.4 Activity Diagram ........................................................................ IV - 7 4.3 Perancangan Mobile Robot ............................................................ IV - 9 4.3.1 Perancangan Mekanika ............................................................... IV - 9 4.3.1.1 Perancangan Rangka Gripper .................................................. IV - 9 4.3.1.2 Perancangan Rangka Pondasi Bahu ......................................... IV - 11 4.3.1.3 Perancangan Rangka Lengan ................................................... IV - 12 4.3.1.4 Perancangan Sirkuit Motor Driver ........................................... IV - 13 4.3.2 Perancangan Kelistrikan ............................................................. IV - 14 4.3.2.1 Perancangan Terminal Power Supply ....................................... IV - 14 4.3.2.2 Microcontroller ....................................................................... IV - 15 4.3.3 Perancangan Perangkat Lunak .................................................... IV - 19 4.4 Perancangan Router ...................................................................... IV - 20 4.4.1 Perancangan Kelistrikan ............................................................. IV - 20 4.4.1.1 Perancangan Modul Bluetooth ................................................. IV - 21 4.4.1.2 Perancangan Modul Microcontroller ....................................... IV - 22 4.4.1.3 Perancangan Modul XBee (dengan Shield) ............................... IV - 24 4.4.2 Perancangan Perangkat Lunak .................................................... IV - 26 4.5 Perancangan User Interface Aplikasi Mobile ................................. IV - 26 4.5.1 Perancangan User Interface Logo Aplikasi ................................. IV - 26 4.5.2 Perancangan User Interface Splash Screen Aplikasi ................... IV - 27
xi
4.5.3 Perancangan User Interface Halaman Utama .............................. IV - 28 4.5.4 Perancangan User Interface Halaman Kendali ............................ IV - 29 4.5.5 Perancangan User Interface Dialog Box ..................................... IV - 30 Bab V Implementasi dan Pengujian Prototype Akhir ...................... V - 1 5.1 Konfigurasi XBee .......................................................................... V - 1 5.1.1 Konfigurasi XBee Mode Coordinator ......................................... V - 1 5.1.2 Konfigurasi XBee Mode Router .................................................. V - 3 5.2 Implementasi Mobile Robot ........................................................... V - 4 5.2.1 Mekanika ................................................................................... V - 4 5.2.2 Kelistrikan .................................................................................. V - 7 5.2.3 Penggabungan Mekanika dan Komponen Kelistrikan ................. V - 11 5.2.4 Perangkat Lunak ........................................................................ V - 12 5.3 Implementasi Router ..................................................................... V - 21 5.3.1 Kelistrikan .................................................................................. V - 22 5.3.2 Perangkat Lunak ........................................................................ V - 23 5.4 Implementasi Aplikasi Mobile Pengendali Mobile Robot ............... V - 24 5.4.1 Perangkat Implementasi ............................................................. V - 24 5.4.2 Implementasi File Fisik .............................................................. V - 25 5.4.3 Implementasi User Interface ...................................................... V - 26 5.4.3.1 Implementasi User Interface Icon Aplikasi .............................. V - 26 5.4.3.2 Implementasi User Interface Splash Screen ............................. V - 27 5.4.3.3 Implementasi User Interface Utama ........................................ V - 28
xii
5.4.3.4 Implementasi User Interface Dialog Box Aktivasi Bluetooth ... V - 28 5.4.3.5 Implementasi User Interface Setting IP ................................... V - 30 5.4.3.6 Implementasi User Interface Sinkronisasi Bluetooth ................ V - 30 5.4.3.7 Implementasi User Interface Pengendali Robot Layer 1 .......... V - 31 5.4.3.8 Implementasi User Interface Pengendali Robot Layer 2 .......... V - 32 5.4.3.9 Implementasi User Interface Petunjuk Penggunaan ................. V - 33 5.4.3.10 Implementasi User Interface Tentang Aplikasi ...................... V - 33 5.4.3.11 Implementasi User Interface Dialog Box Konfirmasi Keluar .. V - 34 5.4.3.12 Implementasi User Interface Toast Bluetooth Info ................. V - 34 5.5 Pengujian Sistem ........................................................................... V - 35 5.5.1 Pengujian Mobile Robot ............................................................. V - 35 5.5.1.1 Pengujian Mekanika ................................................................ V - 35 5.5.1.2 Pengujian Perangkat Lunak Mobile Robot ............................... V - 39 5.5.2 Pengujian Perangkat Router ....................................................... V - 42 5.5.3 Pengujian Perangkat Lunak Aplikasi Pengendali ........................ V - 45 Bab VI Penutup ................................................................................. VI - 1 6.1 Kesimpulan ................................................................................... VI - 1 6.2 Saran Pengembangan .................................................................... VI - 1
xiii
